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PxPhysics.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_PHYSICS_NX_PHYSICS
#define PX_PHYSICS_NX_PHYSICS

#include "PxPhysXConfig.h"
#include "PxDeletionListener.h"
#include "foundation/PxTransform.h"
#include "PxShape.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxPvd;
class PxPhysicsInsertionCallback;

class PxRigidActor;
class PxConstraintConnector;
struct PxConstraintShaderTable;

class PxGeometry;
class PxFoundation;
class PxSerializationRegistry;

class PxPruningStructure;
class PxBVHStructure;

class PxPhysics
{
public:

    
    virtual ~PxPhysics() {}
    
    virtual void release() = 0;

    virtual PxFoundation&       getFoundation() = 0;
        
    virtual PxAggregate*        createAggregate(PxU32 maxSize, bool enableSelfCollision)    = 0;

    virtual const PxTolerancesScale&        getTolerancesScale() const = 0;



    virtual PxTriangleMesh*    createTriangleMesh(PxInputStream& stream) = 0;
    
    virtual PxU32               getNbTriangleMeshes() const = 0;

    virtual PxU32               getTriangleMeshes(PxTriangleMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;

    virtual PxHeightField*      createHeightField(PxInputStream& stream) = 0;

    virtual PxU32               getNbHeightFields() const = 0;

    virtual PxU32               getHeightFields(PxHeightField** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;

    virtual PxConvexMesh*       createConvexMesh(PxInputStream &stream)                 = 0;

    virtual PxU32               getNbConvexMeshes() const = 0;

    virtual PxU32               getConvexMeshes(PxConvexMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;

    virtual PxBVHStructure*     createBVHStructure(PxInputStream &stream)                   = 0;

    virtual PxU32               getNbBVHStructures() const = 0;

    virtual PxU32               getBVHStructures(PxBVHStructure** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;



    virtual PxScene*            createScene(const PxSceneDesc& sceneDesc) = 0;

    virtual PxU32               getNbScenes()           const   = 0;

    virtual PxU32               getScenes(PxScene** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
    


    virtual PxRigidStatic*      createRigidStatic(const PxTransform& pose) = 0;

    virtual PxRigidDynamic*      createRigidDynamic(const PxTransform& pose) = 0;

    virtual PxPruningStructure* createPruningStructure(PxRigidActor*const* actors, PxU32 nbActors)  = 0;


    
    PX_FORCE_INLINE PxShape*    createShape(    const PxGeometry& geometry, 
                                                const PxMaterial& material, 
                                                bool isExclusive = false, 
                                                PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
    {
        PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
        return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
    }

    virtual PxShape*            createShape(const PxGeometry& geometry, 
                                            PxMaterial*const * materials, 
                                            PxU16 materialCount, 
                                            bool isExclusive = false,
                                            PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;

    virtual PxU32               getNbShapes() const = 0;

    virtual PxU32               getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;



    virtual PxConstraint*      createConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize)       = 0;

    virtual PxArticulation*                     createArticulation() = 0;

    virtual PxArticulationReducedCoordinate*    createArticulationReducedCoordinate() = 0;




    virtual PxMaterial*        createMaterial(PxReal staticFriction, PxReal dynamicFriction, PxReal restitution)        = 0;


    virtual PxU32               getNbMaterials() const = 0;

    virtual PxU32               getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;



    virtual void registerDeletionListener(PxDeletionListener& observer, const PxDeletionEventFlags& deletionEvents, bool restrictedObjectSet = false) = 0;

    virtual void unregisterDeletionListener(PxDeletionListener& observer) = 0;

    virtual void registerDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;

    virtual void unregisterDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;

    virtual PxPhysicsInsertionCallback& getPhysicsInsertionCallback() = 0;

};

#if !PX_DOXYGEN
} // namespace physx
#endif

PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV PxRegisterArticulations(physx::PxPhysics& physics);


PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV PxRegisterArticulationsReducedCoordinate(physx::PxPhysics& physics);

PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV PxRegisterHeightFields(physx::PxPhysics& physics);

PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics* PX_CALL_CONV PxCreateBasePhysics(physx::PxU32 version,
                                                                                 physx::PxFoundation& foundation,
                                                                                 const physx::PxTolerancesScale& scale,                                                                              
                                                                                 bool trackOutstandingAllocations = false,
                                                                                 physx::PxPvd* pvd = NULL);

PX_INLINE physx::PxPhysics* PxCreatePhysics(physx::PxU32 version,
                                            physx::PxFoundation& foundation,
                                            const physx::PxTolerancesScale& scale,                                          
                                            bool trackOutstandingAllocations = false,
                                            physx::PxPvd* pvd = NULL )
{
    physx::PxPhysics* physics = PxCreateBasePhysics(version, foundation, scale, trackOutstandingAllocations, pvd);
    if(!physics)
        return NULL;

    PxRegisterArticulations(*physics);
    PxRegisterArticulationsReducedCoordinate(*physics);
    PxRegisterHeightFields(*physics);

    return physics;
}


#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
#endif

PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics& PX_CALL_CONV PxGetPhysics();

#ifdef __clang__
#pragma clang diagnostic pop
#endif

#endif

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