Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_SIMPLE_FACTORY_H
++ #define PX_SIMPLE_FACTORY_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxPlane.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxPhysics;
++ class PxMaterial;
++ class PxRigidActor;
++ class PxRigidDynamic;
++ class PxRigidStatic;
++ class PxGeometry;
++ class PxShape;
++
++ /** \brief simple method to create a PxRigidDynamic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the global pose of the new object
++ \param[in] geometry the geometry of the new object's shape, which must be a sphere, capsule, box or convex
++ \param[in] material the material for the new object's shape
++ \param[in] density the density of the new object. Must be greater than zero.
++ \param[in] shapeOffset an optional offset for the new shape, defaults to identity
++
++ \return a new dynamic actor with the PxRigidBodyFlag, or NULL if it could
++ not be constructed
++
++ \see PxRigidDynamic PxShapeFlag
++ */
++ PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
++ const PxTransform& transform,
++ const PxGeometry& geometry,
++ PxMaterial& material,
++ PxReal density,
++ const PxTransform& shapeOffset = PxTransform(PxIdentity));
++
++ /** \brief simple method to create a PxRigidDynamic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the transform of the new object
++ \param[in] shape the shape of the new object
++ \param[in] density the density of the new object. Must be greater than zero.
++
++ \return a new dynamic actor with the PxRigidBodyFlag, or NULL if it could
++ not be constructed
++
++ \see PxRigidDynamic PxShapeFlag
++ */
++ PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
++ const PxTransform& transform,
++ PxShape& shape,
++ PxReal density);
++
++ /** \brief simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the global pose of the new object
++ \param[in] geometry the geometry of the new object's shape
++ \param[in] material the material for the new object's shape
++ \param[in] density the density of the new object. Must be greater than zero if the object is to participate in simulation.
++ \param[in] shapeOffset an optional offset for the new shape, defaults to identity
++
++ \note unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However,
++ kinematics of other geometry types may not participate in simulation collision and may be used only for
++ triggers or scene queries of moving objects under animation control. In this case the density parameter
++ will be ignored and the created shape will be set up as a scene query only shape (see #PxShapeFlag::eSCENE_QUERY_SHAPE)
++
++ \return a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could
++ not be constructed
++
++ \see PxRigidDynamic PxShapeFlag
++ */
++ PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk,
++ const PxTransform& transform,
++ const PxGeometry& geometry,
++ PxMaterial& material,
++ PxReal density,
++ const PxTransform& shapeOffset = PxTransform(PxIdentity));
++
++ /** \brief simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the global pose of the new object
++ \param[in] density the density of the new object. Must be greater than zero if the object is to participate in simulation.
++ \param[in] shape the shape of the new object
++
++ \note unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However,
++ kinematics of other geometry types may not participate in simulation collision and may be used only for
++ triggers or scene queries of moving objects under animation control. In this case the density parameter
++ will be ignored and the created shape will be set up as a scene query only shape (see #PxShapeFlag::eSCENE_QUERY_SHAPE)
++
++ \return a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could
++ not be constructed
++
++ \see PxRigidDynamic PxShapeFlag
++ */
++ PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk,
++ const PxTransform& transform,
++ PxShape& shape,
++ PxReal density);
++
++ /** \brief simple method to create a PxRigidStatic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the global pose of the new object
++ \param[in] geometry the geometry of the new object's shape
++ \param[in] material the material for the new object's shape
++ \param[in] shapeOffset an optional offset for the new shape, defaults to identity
++
++ \return a new static actor, or NULL if it could not be constructed
++
++ \see PxRigidStatic
++ */
++ PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
++ const PxTransform& transform,
++ const PxGeometry& geometry,
++ PxMaterial& material,
++ const PxTransform& shapeOffset = PxTransform(PxIdentity));
++
++ /** \brief simple method to create a PxRigidStatic actor with a single PxShape.
++
++ \param[in] sdk the PxPhysics object
++ \param[in] transform the global pose of the new object
++ \param[in] shape the new object's shape
++
++ \return a new static actor, or NULL if it could not be constructed
++
++ \see PxRigidStatic
++ */
++ PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
++ const PxTransform& transform,
++ PxShape& shape);
++
++ /**
++ \brief create a shape by copying attributes from another shape
++
++ The function clones a PxShape. The following properties are copied:
++ - geometry
++ - flags
++ - materials
++ - actor-local pose
++ - contact offset
++ - rest offset
++ - simulation filter data
++ - query filter data
++ - torsional patch radius
++ - minimum torsional patch radius
++
++ The following are not copied and retain their default values:
++ - name
++ - user data
++
++ \param[in] physicsSDK - the physics SDK used to allocate the shape
++ \param[in] shape the shape from which to take the attributes.
++ \param[in] isExclusive whether the new shape should be an exclusive or shared shape.
++
++ \return the newly-created rigid static
++ */
++ PxShape* PxCloneShape(PxPhysics& physicsSDK,
++ const PxShape& shape,
++ bool isExclusive);
++
++ /**
++ \brief create a static body by copying attributes from another rigid actor
++
++ The function clones a PxRigidDynamic or PxRigidStatic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:
++ - shapes
++ - actor flags
++ - owner client and client behavior bits
++ - dominance group
++
++ The following are not copied and retain their default values:
++ - name
++ - joints or observers
++ - aggregate or scene membership
++ - user data
++
++ \note Transforms are not copied with bit-exact accuracy.
++
++ \param[in] physicsSDK - the physics SDK used to allocate the rigid static
++ \param[in] actor the rigid actor from which to take the attributes.
++ \param[in] transform the transform of the new static.
++
++ \return the newly-created rigid static
++ */
++ PxRigidStatic* PxCloneStatic(PxPhysics& physicsSDK,
++ const PxTransform& transform,
++ const PxRigidActor& actor);
++
++ /**
++ \brief create a dynamic body by copying attributes from an existing body
++
++ The following properties are copied:
++ - shapes
++ - actor flags, rigidDynamic flags and rigidDynamic lock flags
++ - mass, moment of inertia, and center of mass frame
++ - linear and angular velocity
++ - linear and angular damping
++ - maximum linear velocity
++ - maximum angular velocity
++ - position and velocity solver iterations
++ - maximum depenetration velocity
++ - sleep threshold
++ - contact report threshold
++ - dominance group
++ - owner client and client behavior bits
++ - name pointer
++ - kinematic target
++
++ The following are not copied and retain their default values:
++ - name
++ - joints or observers
++ - aggregate or scene membership
++ - sleep timer
++ - user data
++
++ \note Transforms are not copied with bit-exact accuracy.
++
++ \param[in] physicsSDK PxPhysics - the physics SDK used to allocate the rigid static
++ \param[in] body the rigid dynamic to clone.
++ \param[in] transform the transform of the new dynamic
++
++ \return the newly-created rigid static
++ */
++ PxRigidDynamic* PxCloneDynamic(PxPhysics& physicsSDK,
++ const PxTransform& transform,
++ const PxRigidDynamic& body);
++
++ /** \brief create a plane actor. The plane equation is n.x + d = 0
++
++ \param[in] sdk the PxPhysics object
++ \param[in] plane a plane of the form n.x + d = 0
++ \param[in] material the material for the new object's shape
++
++ \return a new static actor, or NULL if it could not be constructed
++
++ \see PxRigidStatic
++ */
++ PxRigidStatic* PxCreatePlane(PxPhysics& sdk,
++ const PxPlane& plane,
++ PxMaterial& material);
++
++ /**
++ \brief scale a rigid actor by a uniform scale
++
++ The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an
++ articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the
++ center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.
++
++ \param[in] actor a rigid actor
++ \param[in] scale the scale by which to multiply the actor. Must be >0.
++ \param[in] scaleMassProps whether to scale the mass properties
++ */
++ void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps = true);
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif