Added move_global_* methods to PhysxActor

panda/src/physx/physxActor.cxx

@@ -257,7 +257,7 @@ set_global_pos(const LPoint3f &pos) {
 //               and would like to have it correctly interact with
 //               dynamic bodies and joints, you should create a
 //               dynamic body with the BF_kinematic flag, and then
-//               use the move_lobal_*() commands to move it along
+//               use the move_global_*() commands to move it along
 //               a path!
 //
 //               When briefly moving dynamic actors, one should not:
@@ -297,6 +297,80 @@ set_global_hpr(float h, float p, float r) {
   _ptr->setGlobalOrientationQuat(PhysxManager::quat_to_nxQuat(q));
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxActor::move_global_pos
+//       Access: Published
+//  Description: The move_global_* calls serve to move kinematically
+//               controlled dynamic actors through the game world. 
+//
+//               See move_global_mat() for more information.
+//
+//               This call wakes the actor if it is sleeping.
+////////////////////////////////////////////////////////////////////
+void PhysxActor::
+move_global_pos(const LPoint3f &pos) {
+
+  nassertv(_error_type == ET_ok);
+  nassertv_always(!pos.is_nan());
+
+  _ptr->moveGlobalPosition(PhysxManager::point3_to_nxVec3(pos));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxActor::move_global_mat
+//       Access: Published
+//  Description: The move_global_* calls serve to move
+//               kinematically controlled dynamic actors through
+//               the game world. 
+//
+//               You set a dynamic actor to be kinematic using the
+//               BF_KINEMATIC body flag, used either in the
+//               PhysBodyDesc or with set_body_flag().
+//
+//               The move command will result in a velocity that,
+//               when successfully carried out (i.e. the motion is
+//               not blocked due to joints or collisions) inside
+//               run*(), will move the body into the desired pose.
+//               After the move is carried out during a single time
+//               step, the velocity is returned to zero. Thus, you
+//               must continuously call this in every time step for
+//               kinematic actors so that they move along a path.
+//
+//               These functions simply store the move destination
+//               until run*() is called, so consecutive calls will
+//               simply overwrite the stored target variable.
+//
+//               This call wakes the actor if it is sleeping.
+////////////////////////////////////////////////////////////////////
+void PhysxActor::
+move_global_mat(const LMatrix4f &mat) {
+
+  nassertv(_error_type == ET_ok);
+  nassertv_always(!mat.is_nan());
+
+  _ptr->moveGlobalPose(PhysxManager::mat4_to_nxMat34(mat));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxActor::move_global_hpr
+//       Access: Published
+//  Description: The move_global_* calls serve to move kinematically
+//               controlled dynamic actors through the game world. 
+//
+//               See move_global_mat() for more information.
+//
+//               This call wakes the actor if it is sleeping.
+////////////////////////////////////////////////////////////////////
+void PhysxActor::
+move_global_hpr(float h, float p, float r) {
+
+  nassertv(_error_type == ET_ok);
+
+  LQuaternionf q;
+  q.set_hpr(LVector3f(h, p, r));
+  _ptr->moveGlobalOrientationQuat(PhysxManager::quat_to_nxQuat(q));
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: PhysxActor::attach_node_path
 //       Access: Published

panda/src/physx/physxActor.h

@@ -144,7 +144,7 @@ PUBLISHED:
   float get_linear_damping() const;
   float get_angular_damping() const;
 
-  // Vecocity
+  // Velocity
   void set_linear_velocity(const LVector3f &linVel);
   void set_angular_velocity(const LVector3f &angVel);
   void set_max_angular_velocity(float maxAngVel);
@@ -174,6 +174,11 @@ PUBLISHED:
   void wake_up(float wakeCounterValue=NX_SLEEP_INTERVAL);
   void put_to_sleep();
 
+  // Kinematic
+  void move_global_pos(const LPoint3f &pos);
+  void move_global_mat(const LMatrix4f &mat);
+  void move_global_hpr(float h, float p, float r);
+
   INLINE void ls() const;
   INLINE void ls(ostream &out, int indent_level=0) const;