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137 lines
5.7 KiB
C
Executable File
137 lines
5.7 KiB
C
Executable File
#ifndef CPxRigidBodyFlag_H
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#define CPxRigidBodyFlag_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum CPxRigidBodyFlag
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{
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/**
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\brief Enables kinematic mode for the actor.
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Kinematic actors are special dynamic actors that are not
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influenced by forces (such as gravity), and have no momentum. They are considered to have infinite
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mass and can be moved around the world using the setKinematicTarget() method. They will push
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regular dynamic actors out of the way. Kinematics will not collide with static or other kinematic objects.
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Kinematic actors are great for moving platforms or characters, where direct motion control is desired.
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You can not connect Reduced joints to kinematic actors. Lagrange joints work ok if the platform
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is moving with a relatively low, uniform velocity.
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<b>Sleeping:</b>
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\li Setting this flag on a dynamic actor will put the actor to sleep and set the velocities to 0.
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\li If this flag gets cleared, the current sleep state of the actor will be kept.
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\note kinematic actors are incompatible with CCD so raising this flag will automatically clear eENABLE_CCD
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@see PxRigidDynamic.setKinematicTarget()
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*/
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CPxRigidBodyFlag_eKINEMATIC = (1 << 0), //!< Enable kinematic mode for the body.
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/**
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\brief Use the kinematic target transform for scene queries.
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If this flag is raised, then scene queries will treat the kinematic target transform as the current pose
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of the body (instead of using the actual pose). Without this flag, the kinematic target will only take
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effect with respect to scene queries after a simulation step.
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@see PxRigidDynamic.setKinematicTarget()
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*/
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CPxRigidBodyFlag_eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES = (1 << 1),
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/**
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\brief Enables swept integration for the actor.
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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
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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
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individual interactions.
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\note kinematic actors are incompatible with CCD so this flag will be cleared automatically when raised on a kinematic actor
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*/
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CPxRigidBodyFlag_eENABLE_CCD = (1 << 2), //!< Enable CCD for the body.
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/**
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\brief Enabled CCD in swept integration for the actor.
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If this flag is raised and CCD is enabled, CCD interactions will simulate friction. By default, friction is disabled in CCD interactions because
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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
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that is a closer match for previous versions of the SDK.
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\note This flag requires PxRigidBodyFlag::eENABLE_CCD to be raised to have any effect.
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*/
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CPxRigidBodyFlag_eENABLE_CCD_FRICTION = (1 << 3),
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/**
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\brief Register a rigid body for reporting pose changes by the simulation at an early stage.
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Sometimes it might be advantageous to get access to the new pose of a rigid body as early as possible and
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not wait until the call to fetchResults() returns. Setting this flag will schedule the rigid body to get reported
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in #PxSimulationEventCallback::onAdvance(). Please refer to the documentation of that callback to understand
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the behavior and limitations of this functionality.
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@see PxSimulationEventCallback::onAdvance()
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*/
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CPxRigidBodyFlag_eENABLE_POSE_INTEGRATION_PREVIEW = (1 << 4),
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/**
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\brief Register a rigid body to dynamicly adjust contact offset based on velocity. This can be used to achieve a CCD effect.
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*/
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CPxRigidBodyFlag_eENABLE_SPECULATIVE_CCD = (1 << 5),
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/**
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\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.
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*/
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CPxRigidBodyFlag_eENABLE_CCD_MAX_CONTACT_IMPULSE = (1 << 6),
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/**
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\brief Carries over forces/accelerations between frames, rather than clearning them
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*/
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CPxRigidBodyFlag_eRETAIN_ACCELERATIONS = (1 << 7),
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/**
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\brief Forces kinematic-kinematic pairs notifications for this actor.
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This flag overrides the global scene-level PxPairFilteringMode setting for kinematic actors.
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This is equivalent to having PxPairFilteringMode::eKEEP for pairs involving this actor.
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A particular use case is when you have a large amount of kinematic actors, but you are only
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interested in interactions between a few of them. In this case it is best to use set
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PxSceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKILL, and then raise the
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eFORCE_KINE_KINE_NOTIFICATIONS flag on the small set of kinematic actors that need
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notifications.
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\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
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\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
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@see PxPairFilteringMode PxSceneDesc.kineKineFilteringMode
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*/
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CPxRigidBodyFlag_eFORCE_KINE_KINE_NOTIFICATIONS = (1 << 8),
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/**
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\brief Forces static-kinematic pairs notifications for this actor.
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Similar to eFORCE_KINE_KINE_NOTIFICATIONS, but for static-kinematic interactions.
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\note This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.
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\warning Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.
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@see PxPairFilteringMode PxSceneDesc.staticKineFilteringMode
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*/
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CPxRigidBodyFlag_eFORCE_STATIC_KINE_NOTIFICATIONS = (1 << 9),
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/**
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\brief Reserved for internal usage
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*/
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CPxRigidBodyFlag_eRESERVED = (1 << 15)
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};
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#ifdef __cplusplus
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}
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#endif
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#endif // !CPxRigidBodyFlag_H
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