Implementing the rigiddynamic api

pgo/rigidbodyflags.go

@@ -0,0 +1,127 @@
+package pgo
+
+type RigidbodyFlags uint32
+
+const (
+	/**
+	\brief Enables kinematic mode for the actor.
+
+	Kinematic actors are special dynamic actors that are not
+	influenced by forces (such as gravity), and have no momentum. They are considered to have infinite
+	mass and can be moved around the world using the setKinematicTarget() method. They will push
+	regular dynamic actors out of the way. Kinematics will not collide with static or other kinematic objects.
+
+	Kinematic actors are great for moving platforms or characters, where direct motion control is desired.
+
+	You can not connect Reduced joints to kinematic actors. Lagrange joints work ok if the platform
+	is moving with a relatively low, uniform velocity.
+
+	<b>Sleeping:</b>
+	\li Setting this flag on a dynamic actor will put the actor to sleep and set the velocities to 0.
+	\li If this flag gets cleared, the current sleep state of the actor will be kept.
+
+	\note kinematic actors are incompatible with CCD so raising this flag will automatically clear eENABLE_CCD
+
+	@see PxRigidDynamic.setKinematicTarget()
+	*/
+	RigidbodyFlags_eKINEMATIC RigidbodyFlags = (1 << 0) //!< Enable kinematic mode for the body.
+
+	/**
+	\brief Use the kinematic target transform for scene queries.
+
+	If this flag is raised, then scene queries will treat the kinematic target transform as the current pose
+	of the body (instead of using the actual pose). Without this flag, the kinematic target will only take
+	effect with respect to scene queries after a simulation step.
+
+	@see PxRigidDynamic.setKinematicTarget()
+	*/
+	RigidbodyFlags_eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES RigidbodyFlags = (1 << 1)
+
+	/**
+	\brief Enables swept integration for the actor.
+
+	If this flag is raised and CCD is enabled on the scene, then this body will be simulated by the CCD system to ensure that collisions are not missed due to
+	high-speed motion. Note individual shape pairs still need to enable PxPairFlag::eDETECT_CCD_CONTACT in the collision filtering to enable the CCD to respond to
+	individual interactions.
+
+	\note kinematic actors are incompatible with CCD so this flag will be cleared automatically when raised on a kinematic actor
+
+	*/
+	RigidbodyFlags_eENABLE_CCD RigidbodyFlags = (1 << 2) //!< Enable CCD for the body.
+
+	/**
+	\brief Enabled CCD in swept integration for the actor.
+
+	If this flag is raised and CCD is enabled, CCD interactions will simulate friction. By default, friction is disabled in CCD interactions because
+	CCD friction has been observed to introduce some simulation artifacts. CCD friction was enabled in previous versions of the SDK. Raising this flag will result in behavior
+	that is a closer match for previous versions of the SDK.
+
+	\note This flag requires PxRigidBodyFlag::eENABLE_CCD to be raised to have any effect.
+	*/
+	RigidbodyFlags_eENABLE_CCD_FRICTION RigidbodyFlags = (1 << 3)
+
+	/**
+	\brief Register a rigid body for reporting pose changes by the simulation at an early stage.
+
+	Sometimes it might be advantageous to get access to the new pose of a rigid body as early as possible and
+	not wait until the call to fetchResults() returns. Setting this flag will schedule the rigid body to get reported
+	in #PxSimulationEventCallback::onAdvance(). Please refer to the documentation of that callback to understand
+	the behavior and limitations of this functionality.
+
+	@see PxSimulationEventCallback::onAdvance()
+	*/
+	RigidbodyFlags_eENABLE_POSE_INTEGRATION_PREVIEW RigidbodyFlags = (1 << 4)
+
+	/**
+	\brief Register a rigid body to dynamicly adjust contact offset based on velocity. This can be used to achieve a CCD effect.
+	*/
+	RigidbodyFlags_eENABLE_SPECULATIVE_CCD RigidbodyFlags = (1 << 5)
+
+	/**
+	\brief Permit CCD to limit maxContactImpulse. This is useful for use-cases like a destruction system but can cause visual artefacts so is not enabled by default.
+	*/
+	RigidbodyFlags_eENABLE_CCD_MAX_CONTACT_IMPULSE RigidbodyFlags = (1 << 6)
+
+	/**
+	\brief Carries over forces/accelerations between frames, rather than clearning them
+	*/
+	RigidbodyFlags_eRETAIN_ACCELERATIONS RigidbodyFlags = (1 << 7)
+
+	/**
+	\brief Forces kinematic-kinematic pairs notifications for this actor.
+
+	This flag overrides the global scene-level PxPairFilteringMode setting for kinematic actors.
+	This is equivalent to having PxPairFilteringMode::eKEEP for pairs involving this actor.
+
+	A particular use case is when you have a large amount of kinematic actors, but you are only
+	interested in interactions between a few of them. In this case it is best to use set
+	PxSceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKILL, and then raise the
+	eFORCE_KINE_KINE_NOTIFICATIONS flag on the small set of kinematic actors that need
+	notifications.
+
+	\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+	\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+	@see PxPairFilteringMode PxSceneDesc.kineKineFilteringMode
+	*/
+	RigidbodyFlags_eFORCE_KINE_KINE_NOTIFICATIONS RigidbodyFlags = (1 << 8)
+
+	/**
+	\brief Forces static-kinematic pairs notifications for this actor.
+
+	Similar to eFORCE_KINE_KINE_NOTIFICATIONS, but for static-kinematic interactions.
+
+	\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
+
+	\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
+
+	@see PxPairFilteringMode PxSceneDesc.staticKineFilteringMode
+	*/
+	RigidbodyFlags_eFORCE_STATIC_KINE_NOTIFICATIONS RigidbodyFlags = (1 << 9)
+
+	/**
+	\brief Reserved for internal usage
+	*/
+	RigidbodyFlags_eRESERVED RigidbodyFlags = (1 << 15)
+)