Set of connected particles tailored towards simulating character cloth. More...

#include <PxCloth.h>

Inheritance diagram for PxCloth:

Collaboration diagram for PxCloth:

Public Member Functions
virtual void	release ()=0
	Deletes the cloth. Do not keep a reference to the deleted instance. More...

virtual PxClothFabric *	getFabric () const =0
	Returns a pointer to the corresponding cloth fabric. More...

virtual PxBounds3	getWorldBounds (float inflation=1.01f) const =0
	Returns world space bounding box. More...

virtual PxU32	getNbParticles () const =0
	Returns the number of particles. More...

virtual PxClothParticleData *	lockParticleData (PxDataAccessFlags flags)=0
	Acquires access to the cloth particle data. More...

virtual PxClothParticleData *	lockParticleData () const =0
	Acquires read access to the cloth particle data. More...

virtual void	setParticles (const PxClothParticle currentParticles, const PxClothParticle previousParticles)=0
	Updates cloth particle location or inverse weight for current and previous particle state. More...

virtual void	setClothFlag (PxClothFlag::Enum flag, bool value)=0
	Sets cloth flags (e.g. use GPU for simulation, enable CCD, collide against scene). More...

virtual void	setClothFlags (PxClothFlags inFlags)=0
	Set all cloth flags. More...

virtual PxClothFlags	getClothFlags () const =0
	Returns cloth flags. More...

virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type. More...

Integration
Functions related to particle integration.
virtual void	setTargetPose (const PxTransform &pose)=0
	Sets pose that the cloth should move to by the end of the next simulate() call. More...

virtual void	setGlobalPose (const PxTransform &pose)=0
	Sets current pose of the cloth without affecting inertia. More...

virtual PxTransform	getGlobalPose () const =0
	Returns global pose. More...

virtual void	setSolverFrequency (PxReal frequency)=0
	Sets the solver frequency parameter. More...

virtual PxReal	getSolverFrequency () const =0
	Returns solver frequency. More...

virtual PxReal	getPreviousTimeStep () const =0
	Returns previous time step size. More...

virtual void	setStiffnessFrequency (PxReal frequency)=0
	Sets the stiffness frequency parameter. More...

virtual PxReal	getStiffnessFrequency () const =0
	Returns stiffness frequency. More...

virtual void	setLinearInertiaScale (PxVec3 scale)=0
	Sets the acceleration scale factor to adjust inertia effect from global pose changes. More...

virtual PxVec3	getLinearInertiaScale () const =0
	Returns linear acceleration scale parameter. More...

virtual void	setAngularInertiaScale (PxVec3 scale)=0
	Sets the acceleration scale factor to adjust inertia effect from global pose changes. More...

virtual PxVec3	getAngularInertiaScale () const =0
	Returns angular acceleration scale parameter. More...

virtual void	setCentrifugalInertiaScale (PxVec3 scale)=0
	Sets the acceleration scale factor to adjust inertia effect from global pose changes. More...

virtual PxVec3	getCentrifugalInertiaScale () const =0
	Returns centrifugal acceleration scale parameter. More...

virtual void	setInertiaScale (PxReal scale)=0
	Same as `setLinearInertiaScale(PxVec3(scale)); setAngularInertiaScale(PxVec3(scale)); getCentrifugalInertiaScale(PxVec3(scale));` More...

virtual void	setDampingCoefficient (PxVec3 dampingCoefficient)=0
	Sets the damping coefficient. More...

virtual PxVec3	getDampingCoefficient () const =0
	Returns the damping coefficient. More...

virtual void	setLinearDragCoefficient (PxVec3 dragCoefficient)=0
	Sets the linear drag coefficient. More...

virtual PxVec3	getLinearDragCoefficient () const =0
	Returns the linear drag coefficient. More...

virtual void	setAngularDragCoefficient (PxVec3 dragCoefficient)=0
	Sets the angular drag coefficient. More...

virtual PxVec3	getAngularDragCoefficient () const =0
	Returns the angular drag coefficient. More...

virtual void	setDragCoefficient (PxReal scale)=0
	Same as `setLinearDragCoefficient(PxVec3(coefficient)); setAngularDragCoefficient(PxVec3(coefficient));` More...

virtual void	setExternalAcceleration (PxVec3 acceleration)=0
	Sets external particle accelerations. More...

virtual PxVec3	getExternalAcceleration () const =0
	Returns external acceleration. More...

virtual void	setParticleAccelerations (const PxVec4 *particleAccelerations)=0
	Updates particle accelerations, w component is ignored. More...

virtual bool	getParticleAccelerations (PxVec4 *particleAccelerationsBuffer) const =0
	Copies particle accelerations to the user provided buffer. More...

virtual PxU32	getNbParticleAccelerations () const =0
	Returns the number of particle accelerations. More...

Constraints
Functions related to particle and distance constaints.
virtual void	setMotionConstraints (const PxClothParticleMotionConstraint *motionConstraints)=0
	Updates motion constraints (position and radius of the constraint sphere). More...

virtual bool	getMotionConstraints (PxClothParticleMotionConstraint *motionConstraintsBuffer) const =0
	Copies motion constraints to the user provided buffer. More...

virtual PxU32	getNbMotionConstraints () const =0
	Returns the number of motion constraints. More...

virtual void	setMotionConstraintConfig (const PxClothMotionConstraintConfig &config)=0
	Specifies motion constraint scale, bias, and stiffness. More...

virtual PxClothMotionConstraintConfig	getMotionConstraintConfig () const =0
	Reads back scale and bias factor for motion constraints. More...

virtual void	setSeparationConstraints (const PxClothParticleSeparationConstraint *separationConstraints)=0
	Updates separation constraints (position and radius of the constraint sphere). More...

virtual bool	getSeparationConstraints (PxClothParticleSeparationConstraint *separationConstraintsBuffer) const =0
	Copies separation constraints to the user provided buffer. More...

virtual PxU32	getNbSeparationConstraints () const =0
	Returns the number of separation constraints. More...

virtual void	clearInterpolation ()=0
	Assign current to previous positions for collision shapes, motion constraints, and separation constraints. More...

virtual void	setStretchConfig (PxClothFabricPhaseType::Enum type, const PxClothStretchConfig &config)=0
	Sets the solver parameters for the vertical solver phases. More...

virtual PxClothStretchConfig	getStretchConfig (PxClothFabricPhaseType::Enum type) const =0
	Returns the solver parameters for one of the phase types. More...

virtual void	setTetherConfig (const PxClothTetherConfig &config)=0
	Sets the stiffness parameters for the tether constraints. More...

virtual PxClothTetherConfig	getTetherConfig () const =0
	Returns the stiffness parameters for the tether constraints. More...

Collision
Functions related to particle collision.
virtual void	addCollisionSphere (const PxClothCollisionSphere &sphere)=0
	Adds a new collision sphere. More...

virtual void	removeCollisionSphere (PxU32 index)=0
	Removes collision sphere. More...

virtual void	setCollisionSpheres (const PxClothCollisionSphere *spheresBuffer, PxU32 count)=0
	Updates location and radii of collision spheres. More...

virtual PxU32	getNbCollisionSpheres () const =0
	Returns the number of collision spheres. More...

virtual void	addCollisionCapsule (PxU32 first, PxU32 second)=0
	Adds a new collision capsule. More...

virtual void	removeCollisionCapsule (PxU32 index)=0
	Removes a collision capsule. More...

virtual PxU32	getNbCollisionCapsules () const =0
	Returns the number of collision capsules. More...

virtual void	addCollisionPlane (const PxClothCollisionPlane &plane)=0
	Adds a collision plane. More...

virtual void	removeCollisionPlane (PxU32 index)=0
	Removes a collision plane. More...

virtual void	setCollisionPlanes (const PxClothCollisionPlane *planesBuffer, PxU32 count)=0
	Updates positions of collision planes. More...

virtual PxU32	getNbCollisionPlanes () const =0
	Returns the number of collision planes. More...

virtual void	addCollisionConvex (PxU32 mask)=0
	Adds a new collision convex. More...

virtual void	removeCollisionConvex (PxU32 index)=0
	Removes a collision convex. More...

virtual PxU32	getNbCollisionConvexes () const =0
	Returns the number of collision convexes. More...

virtual void	addCollisionTriangle (const PxClothCollisionTriangle &triangle)=0
	Adds a new collision triangle. More...

virtual void	removeCollisionTriangle (PxU32 index)=0
	Removes a collision triangle. More...

virtual void	setCollisionTriangles (const PxClothCollisionTriangle *trianglesBuffer, PxU32 count)=0
	Updates positions of collision triangles. More...

virtual PxU32	getNbCollisionTriangles () const =0
	Returns the number of collision triangles. More...

virtual void	getCollisionData (PxClothCollisionSphere spheresBuffer, PxU32 capsulesBuffer, PxClothCollisionPlane planesBuffer, PxU32 convexesBuffer, PxClothCollisionTriangle *trianglesBuffer) const =0
	Retrieves the collision shapes. More...

virtual void	setVirtualParticles (PxU32 numVirtualParticles, const PxU32 indices, PxU32 numWeights, const PxVec3 weights)=0
	Assigns virtual particles. More...

virtual PxU32	getNbVirtualParticles () const =0
	Returns the number of virtual particles. More...

virtual void	getVirtualParticles (PxU32 *indicesBuffer) const =0
	Copies index array of virtual particles to the user provided buffer. More...

virtual PxU32	getNbVirtualParticleWeights () const =0
	Returns the number of the virtual particle weights. More...

virtual void	getVirtualParticleWeights (PxVec3 *weightsBuffer) const =0
	Copies weight table of virtual particles to the user provided buffer. More...

virtual void	setFrictionCoefficient (PxReal frictionCoefficient)=0
	Sets the collision friction coefficient. More...

virtual PxReal	getFrictionCoefficient () const =0
	Returns the friction coefficient. More...

virtual void	setCollisionMassScale (PxReal scalingCoefficient)=0
	Sets the collision mass scaling coefficient. More...

virtual PxReal	getCollisionMassScale () const =0
	Returns the mass-scaling coefficient. More...

Self-Collision
Functions related to particle against particle collision.
virtual void	setSelfCollisionDistance (PxReal distance)=0
	Sets the self collision distance. More...

virtual PxReal	getSelfCollisionDistance () const =0
	Returns the self-collision distance. More...

virtual void	setSelfCollisionStiffness (PxReal stiffness)=0
	Sets the self collision stiffness. More...

virtual PxReal	getSelfCollisionStiffness () const =0
	Returns the self-collision stiffness. More...

virtual void	setSelfCollisionIndices (const PxU32 *indices, PxU32 nbIndices)=0
	Sets a subset of cloth particles which participate in self-collision. More...

virtual bool	getSelfCollisionIndices (PxU32 *indices) const =0
	Copies array of particles participating in self-collision to the user provided buffer. More...

virtual PxU32	getNbSelfCollisionIndices () const =0
	Returns the number of particles participating in self-collision. More...

virtual void	setRestPositions (const PxVec4 *restPositions)=0
	Sets the cloth particles rest positions. More...

virtual bool	getRestPositions (PxVec4 *restPositions) const =0
	Copies array of rest positions to the user provided buffer. More...

virtual PxU32	getNbRestPositions () const =0
	Returns the number of rest positions. More...

Inter-Collision
Functions related to collision between cloth instances.
virtual void	setSimulationFilterData (const PxFilterData &data)=0
	Sets the user definable collision filter data. More...

virtual PxFilterData	getSimulationFilterData () const =0
	Retrieves the object's collision filter data. More...

Scene-Collision
Functions related to collision against scene objects.
virtual void	setContactOffset (PxReal offset)=0
	Sets the width by which the cloth bounding box is increased to find nearby scene collision shapes. More...

virtual PxReal	getContactOffset () const =0
	Returns cloth contact offset. More...

virtual void	setRestOffset (PxReal offset)=0
	Sets the minimum distance between colliding cloth particles and scene shapes. More...

virtual PxReal	getRestOffset () const =0
	Returns cloth rest offset. More...

Sleeping
Functions related to sleeping.
virtual void	setSleepLinearVelocity (PxReal threshold)=0
	Sets the velocity threshold for putting cloth in sleep state. More...

virtual PxReal	getSleepLinearVelocity () const =0
	Returns the velocity threshold for putting cloth in sleep state. More...

virtual void	setWakeCounter (PxReal wakeCounterValue)=0
	Sets the wake counter for the cloth. More...

virtual PxReal	getWakeCounter () const =0
	Returns the wake counter of the cloth. More...

virtual void	wakeUp ()=0
	Forces cloth to wake up from sleep state. More...

virtual void	putToSleep ()=0
	Forces cloth to be put in sleep state. More...

virtual bool	isSleeping () const =0
	Returns true if cloth is in sleep state. More...

Public Member Functions inherited from PxActor
virtual PxActorType::Enum	getType () const =0
	Retrieves the type of actor. More...

PX_DEPRECATED PX_INLINE PxRigidStatic *	isRigidStatic ()
	Attempts to cast to specific actor type. More...

PX_DEPRECATED PX_INLINE const PxRigidStatic *	isRigidStatic () const

PX_DEPRECATED PX_INLINE PxRigidDynamic *	isRigidDynamic ()

PX_DEPRECATED PX_INLINE const PxRigidDynamic *	isRigidDynamic () const

PX_DEPRECATED PX_INLINE PxParticleSystem *	isParticleSystem ()

PX_DEPRECATED PX_INLINE const PxParticleSystem *	isParticleSystem () const

PX_DEPRECATED PX_INLINE PxParticleFluid *	isParticleFluid ()

PX_DEPRECATED PX_INLINE const PxParticleFluid *	isParticleFluid () const

PX_DEPRECATED PX_INLINE PxArticulationLink *	isArticulationLink ()

PX_DEPRECATED PX_INLINE const PxArticulationLink *	isArticulationLink () const

PX_DEPRECATED PX_INLINE PxCloth *	isCloth ()

PX_DEPRECATED PX_INLINE const PxCloth *	isCloth () const

PX_DEPRECATED PX_INLINE PxRigidActor *	isRigidActor ()

PX_DEPRECATED PX_INLINE const PxRigidActor *	isRigidActor () const

PX_DEPRECATED PX_INLINE PxRigidBody *	isRigidBody ()

PX_DEPRECATED PX_INLINE const PxRigidBody *	isRigidBody () const

PX_DEPRECATED PX_INLINE PxParticleBase *	isParticleBase ()

PX_DEPRECATED PX_INLINE const PxParticleBase *	isParticleBase () const

virtual PxScene *	getScene () const =0
	Retrieves the scene which this actor belongs to. More...

virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName(). More...

virtual const char *	getName () const =0
	Retrieves the name string set with setName(). More...

virtual void	setActorFlag (PxActorFlag::Enum flag, bool value)=0
	Raises or clears a particular actor flag. More...

virtual void	setActorFlags (PxActorFlags inFlags)=0
	sets the actor flags More...

virtual PxActorFlags	getActorFlags () const =0
	Reads the PxActor flags. More...

virtual void	setDominanceGroup (PxDominanceGroup dominanceGroup)=0
	Assigns dynamic actors a dominance group identifier. More...

virtual PxDominanceGroup	getDominanceGroup () const =0
	Retrieves the value set with setDominanceGroup(). More...

virtual void	setOwnerClient (PxClientID inClient)=0
	Sets the owner client of an actor. More...

virtual PxClientID	getOwnerClient () const =0
	Returns the owner client that was specified with at creation time. More...

virtual void	setClientBehaviorFlags (PxActorClientBehaviorFlags)=0
	Sets the behavior bits of the actor. More...

virtual PxActorClientBehaviorFlags	getClientBehaviorFlags () const =0
	Retrieves the behavior bits of the actor. More...

virtual PxAggregate *	getAggregate () const =0
	Retrieves the aggregate the actor might be a part of. More...

Public Member Functions inherited from PxBase
template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_INLINE PxType	getConcreteType () const
	Returns concrete type of object. More...

PX_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag. More...

PX_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags. More...

PX_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags. More...

virtual bool	isReleasable () const
	Whether the object is subordinate. More...

Protected Member Functions
PX_INLINE	PxCloth (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxCloth (PxBaseFlags baseFlags)

virtual	~PxCloth ()

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance. More...

Protected Member Functions inherited from PxActor
PX_INLINE	PxActor (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxActor (PxBaseFlags baseFlags)

virtual	~PxActor ()

Protected Member Functions inherited from PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags. More...

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags. More...

virtual	~PxBase ()
	Destructor. More...

template<class T >
bool	typeMatch () const

Additional Inherited Members
Public Attributes inherited from PxActor
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object. More...

Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

Set of connected particles tailored towards simulating character cloth.

A cloth object consists of the following components:

A set of particles that sample the cloth. The sampling does not need to be regular. Particles are simulated in local space, which allows tuning the effect of changes to the global pose on the particles.
Distance, bending, shearing, and tether constraints between particles. These are stored in a PxClothFabric instance which can be shared across cloth instances.
Spheres, capsules, convexes, and triangle collision shapes. These shapes are all treated separately to the main PhysX rigid body scene.
Virtual particles can be used to improve collision at a finer scale than the cloth sampling.
Motion and separation constraints are used to limit the particle movement within or outside of a sphere.

See Also: PxPhysics.createCloth

Constructor & Destructor Documentation

PX_INLINE PxCloth::PxCloth	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)

inlineprotected

PX_INLINE PxCloth::PxCloth ( PxBaseFlags baseFlags )

inlineprotected

virtual PxCloth::~PxCloth ( )

inlineprotectedvirtual

Member Function Documentation

virtual void PxCloth::addCollisionCapsule	(	PxU32	first,
		PxU32	second
	)

pure virtual

Adds a new collision capsule.

A collision capsule is defined as the bounding volume of two spheres.

Parameters

[in]	first	Index of first sphere.
[in]	second	Index of second sphere.

Note: A maximum of 32 capsules are supported.; Spheres referenced by a capsule need to be defined before simulating the scene, see addCollisionSphere/setCollisionSpheres.

virtual void PxCloth::addCollisionConvex ( PxU32 mask )

pure virtual

Adds a new collision convex.

A collision convex is defined as the intersection of planes.

Parameters

[in] mask The bitmask of the planes that make up the convex.

Note: Planes referenced by a collision convex need to be defined before simulating the scene, see addCollisionPlane/setCollisionPlanes.

virtual void PxCloth::addCollisionPlane ( const PxClothCollisionPlane & plane )

pure virtual

Adds a collision plane.

Parameters

[in] plane New collision plane.

Note: Planes are not used for collision until they are added to a convex object, see addCollisionConvex().; A maximum of 32 planes are supported.

virtual void PxCloth::addCollisionSphere ( const PxClothCollisionSphere & sphere )

pure virtual

Adds a new collision sphere.

Parameters

[in] sphere New collision sphere.

Note: A maximum of 32 spheres are supported.

virtual void PxCloth::addCollisionTriangle ( const PxClothCollisionTriangle & triangle )

pure virtual

Adds a new collision triangle.

Parameters

[in] triangle New collision triangle.

Note: GPU cloth is limited to 500 triangles per instance.

virtual void PxCloth::clearInterpolation ( )

pure virtual

Assign current to previous positions for collision shapes, motion constraints, and separation constraints.

This allows to prevent false interpolation after leaping to an animation frame, for example. After calling clearInterpolation(), the current positions will be used without interpolation. New positions can be set afterwards to interpolate to by the end of the next frame.

virtual PxVec3 PxCloth::getAngularDragCoefficient ( ) const

pure virtual

Returns the angular drag coefficient.

Returns: Angular drag coefficient.

virtual PxVec3 PxCloth::getAngularInertiaScale ( ) const

pure virtual

Returns angular acceleration scale parameter.

Returns: Angular acceleration scale parameter.

virtual PxVec3 PxCloth::getCentrifugalInertiaScale ( ) const

pure virtual

Returns centrifugal acceleration scale parameter.

Returns: Centrifugal acceleration scale parameter.

virtual PxClothFlags PxCloth::getClothFlags ( ) const

pure virtual

Returns cloth flags.

Returns: Cloth flags.

virtual void PxCloth::getCollisionData	(	PxClothCollisionSphere *	spheresBuffer,
		PxU32 *	capsulesBuffer,
		PxClothCollisionPlane *	planesBuffer,
		PxU32 *	convexesBuffer,
		PxClothCollisionTriangle *	trianglesBuffer
	)		const

pure virtual

Retrieves the collision shapes.

Returns collision spheres, capsules, convexes, and triangles that were added through the addCollision*() methods and modified through the setCollision*() methods.

Parameters

[out]	spheresBuffer	Spheres destination buffer, must be NULL or the same length as getNbCollisionSpheres().
[out]	capsulesBuffer	Capsules destination buffer, must be NULL or the same length as 2*getNbCollisionCapsules().
[out]	planesBuffer	Planes destination buffer, must be NULL or the same length as getNbCollisionPlanes().
[out]	convexesBuffer	Convexes destination buffer, must be NULL or the same length as getNbCollisionConvexes().
[out]	trianglesBuffer	Triangles destination buffer, must be NULL or the same length as getNbCollisionTriangles().

Note: Returns the positions at the end of the next simulate() call as specified by the setCollision*() methods.

virtual PxReal PxCloth::getCollisionMassScale ( ) const

pure virtual

Returns the mass-scaling coefficient.

Returns: Mass-scaling coefficient.

virtual const char* PxCloth::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

Returns: Class name of most derived type of this object.

Reimplemented from PxBase.

virtual PxReal PxCloth::getContactOffset ( ) const

pure virtual

Returns cloth contact offset.

See Also: setContactOffset

virtual PxVec3 PxCloth::getDampingCoefficient ( ) const

pure virtual

Returns the damping coefficient.

Returns: Damping coefficient.

virtual PxVec3 PxCloth::getExternalAcceleration ( ) const

pure virtual

Returns external acceleration.

Returns: External acceleration in global coordinates.

virtual PxClothFabric* PxCloth::getFabric ( ) const

pure virtual

Returns a pointer to the corresponding cloth fabric.

Returns: The associated cloth fabric.

virtual PxReal PxCloth::getFrictionCoefficient ( ) const

pure virtual

Returns the friction coefficient.

Returns: Friction coefficient.

virtual PxTransform PxCloth::getGlobalPose ( ) const

pure virtual

Returns global pose.

Returns: Global pose as specified by the last setGlobalPose() or setTargetPose() call.

virtual PxVec3 PxCloth::getLinearDragCoefficient ( ) const

pure virtual

Returns the linear drag coefficient.

Returns: Linear drag coefficient.

virtual PxVec3 PxCloth::getLinearInertiaScale ( ) const

pure virtual

Returns linear acceleration scale parameter.

Returns: Linear acceleration scale parameter.

virtual PxClothMotionConstraintConfig PxCloth::getMotionConstraintConfig ( ) const

pure virtual

Reads back scale and bias factor for motion constraints.

See Also: setMotionConstraintConfig()

virtual bool PxCloth::getMotionConstraints ( PxClothParticleMotionConstraint * motionConstraintsBuffer ) const

pure virtual

Copies motion constraints to the user provided buffer.

Parameters

[out] motionConstraintsBuffer Destination buffer, must be at least getNbMotionConstraints().

Returns: True if the copy was successful.

virtual PxU32 PxCloth::getNbCollisionCapsules ( ) const

pure virtual

Returns the number of collision capsules.

Returns: Number of collision capsules.

virtual PxU32 PxCloth::getNbCollisionConvexes ( ) const

pure virtual

Returns the number of collision convexes.

Returns: Number of collision convexes.

virtual PxU32 PxCloth::getNbCollisionPlanes ( ) const

pure virtual

Returns the number of collision planes.

Returns: Number of collision planes.

virtual PxU32 PxCloth::getNbCollisionSpheres ( ) const

pure virtual

Returns the number of collision spheres.

Returns: Number of collision spheres.

virtual PxU32 PxCloth::getNbCollisionTriangles ( ) const

pure virtual

Returns the number of collision triangles.

Returns: Number of collision triangles.

virtual PxU32 PxCloth::getNbMotionConstraints ( ) const

pure virtual

Returns the number of motion constraints.

Returns: Number of motion constraints (same as getNbParticles() if enabled, 0 otherwise).

virtual PxU32 PxCloth::getNbParticleAccelerations ( ) const

pure virtual

Returns the number of particle accelerations.

Returns: Number of particle accelerations (same as getNbParticles() if enabled, 0 otherwise).

virtual PxU32 PxCloth::getNbParticles ( ) const

pure virtual

Returns the number of particles.

Returns: Number of particles.

virtual PxU32 PxCloth::getNbRestPositions ( ) const

pure virtual

Returns the number of rest positions.

Returns: Number of rest positions (same as getNbParticles() if enabled, 0 otherwise).

virtual PxU32 PxCloth::getNbSelfCollisionIndices ( ) const

pure virtual

Returns the number of particles participating in self-collision.

Returns: Size of particle subset participating in self-collision, or 0 if all particles are used.

virtual PxU32 PxCloth::getNbSeparationConstraints ( ) const

pure virtual

Returns the number of separation constraints.

Returns: Number of separation constraints (same as getNbParticles() if enabled, 0 otherwise).

virtual PxU32 PxCloth::getNbVirtualParticles ( ) const

pure virtual

Returns the number of virtual particles.

Returns: Number of virtual particles.

virtual PxU32 PxCloth::getNbVirtualParticleWeights ( ) const

pure virtual

Returns the number of the virtual particle weights.

Returns: Number of virtual particle weights.

virtual bool PxCloth::getParticleAccelerations ( PxVec4 * particleAccelerationsBuffer ) const

pure virtual

Copies particle accelerations to the user provided buffer.

Parameters

[out] particleAccelerationsBuffer Destination buffer, must be at least getNbParticleAccelerations().

Returns: true if the copy was successful.

virtual PxReal PxCloth::getPreviousTimeStep ( ) const

pure virtual

Returns previous time step size.

Time between sampling of previous and current particle positions for computing particle velocity.

Returns: Previous time step size.

virtual PxReal PxCloth::getRestOffset ( ) const

pure virtual

Returns cloth rest offset.

See Also: setRestOffset

virtual bool PxCloth::getRestPositions ( PxVec4 * restPositions ) const

pure virtual

Copies array of rest positions to the user provided buffer.

Parameters

[out] restPositions Destination buffer, must be at least getNbParticles() in length.

Returns: true if the copy was successful.

virtual PxReal PxCloth::getSelfCollisionDistance ( ) const

pure virtual

Returns the self-collision distance.

Returns: Self-collision distance.

virtual bool PxCloth::getSelfCollisionIndices ( PxU32 * indices ) const

pure virtual

Copies array of particles participating in self-collision to the user provided buffer.

Parameters

[out] indices Destination buffer, must be at least getNbSelfCollisionIndices() in length.

Returns: true if the copy was successful.

virtual PxReal PxCloth::getSelfCollisionStiffness ( ) const

pure virtual

Returns the self-collision stiffness.

Returns: Self-collision stiffness.

virtual bool PxCloth::getSeparationConstraints ( PxClothParticleSeparationConstraint * separationConstraintsBuffer ) const

pure virtual

Copies separation constraints to the user provided buffer.

Parameters

[out] separationConstraintsBuffer Destination buffer, must be at least getNbSeparationConstraints().

Returns: True if the copy was successful.

virtual PxFilterData PxCloth::getSimulationFilterData ( ) const

pure virtual

Retrieves the object's collision filter data.

Returns: Associated filter data

See Also: setSimulationFilterData() PxFilterData

virtual PxReal PxCloth::getSleepLinearVelocity ( ) const

pure virtual

Returns the velocity threshold for putting cloth in sleep state.

Returns: Velocity threshold for putting cloth in sleep state.

virtual PxReal PxCloth::getSolverFrequency ( ) const

pure virtual

Returns solver frequency.

Returns: Solver frequency.

virtual PxReal PxCloth::getStiffnessFrequency ( ) const

pure virtual

Returns stiffness frequency.

Returns: Stiffness frequency.

See Also: setStiffnessFrequency() for details.

virtual PxClothStretchConfig PxCloth::getStretchConfig ( PxClothFabricPhaseType::Enum type ) const

pure virtual

Returns the solver parameters for one of the phase types.

Parameters

[in] type Type of phases to return the config for.

Returns: Vertical solver parameters.

virtual PxClothTetherConfig PxCloth::getTetherConfig ( ) const

pure virtual

Returns the stiffness parameters for the tether constraints.

Returns: Tether solver parameters.

virtual void PxCloth::getVirtualParticles ( PxU32 * indicesBuffer ) const

pure virtual

Copies index array of virtual particles to the user provided buffer.

Parameters

[out] indicesBuffer Destination buffer, must be at least 4*getNbVirtualParticles().

See Also: setVirtualParticles()

virtual void PxCloth::getVirtualParticleWeights ( PxVec3 * weightsBuffer ) const

pure virtual

Copies weight table of virtual particles to the user provided buffer.

Parameters

[out] weightsBuffer Destination buffer, must be at least getNbVirtualParticleWeights().

virtual PxReal PxCloth::getWakeCounter ( ) const

pure virtual

Returns the wake counter of the cloth.

Returns: The wake counter of the cloth.

See Also: isSleeping() setWakeCounter()

virtual PxBounds3 PxCloth::getWorldBounds ( float inflation = 1.01f ) const

pure virtual

Returns world space bounding box.

Parameters

[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns: Particle bounds in global coordinates.

Implements PxActor.

virtual bool PxCloth::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

Returns whether a given type name matches with the type of this instance.

Reimplemented from PxActor.

References PxActor::isKindOf().

virtual bool PxCloth::isSleeping ( ) const

pure virtual

Returns true if cloth is in sleep state.

Note: It is invalid to use this method if the cloth has not been added to a scene already.

Returns: True if cloth is in sleep state.

virtual PxClothParticleData* PxCloth::lockParticleData ( PxDataAccessFlags flags )

pure virtual

Acquires access to the cloth particle data.

This function returns a pointer to a PxClothParticleData instance providing access to the PxClothParticle array of the current and previous iteration. The user is responsible for calling PxClothParticleData::unlock() after reading or updating the data. In case the lock has been requested using PxDataAccessFlag::eWRITABLE, the unlock() call copies the arrays pointed to by PxClothParticleData::particles/previousParticles back to the internal particle buffer. Updating the data when a read-only lock has been requested results in undefined behavior. Requesting multiple concurrent read-only locks is supported, but no other lock may be active when requesting a write lock.

If PxDataAccessFlag::eDEVICE is set in flags then the returned pointers will be to GPU device memory, this can be used for direct interop with graphics APIs. Note that these pointers should only be considered valid until PxClothParticleData::unlock() is called and should not be stored. PxDataAccessFlag::eDEVICE implies read and write access, and changing the particles/previousParticles members results in undefined behavior.

Parameters

flags Specifies if particle data is read or written.

Returns: PxClothParticleData pointer which provides access to positions and weight.

virtual PxClothParticleData* PxCloth::lockParticleData ( ) const

pure virtual

Acquires read access to the cloth particle data.

Returns: PxClothParticleData pointer which provides access to positions and weight.

Note: This function is equivalent to lockParticleData(PxDataAccessFlag::eREADABLE).

virtual void PxCloth::putToSleep ( )

pure virtual

Forces cloth to be put in sleep state.

Note: It is invalid to use this method if the cloth has not been added to a scene already.

virtual void PxCloth::release ( )

pure virtual

Deletes the cloth. Do not keep a reference to the deleted instance.

Implements PxActor.

virtual void PxCloth::removeCollisionCapsule ( PxU32 index )

pure virtual

Removes a collision capsule.

Parameters

[in] index Index of capsule to remove.

Note: The indices of capsules added after index are decremented by 1.

virtual void PxCloth::removeCollisionConvex ( PxU32 index )

pure virtual

Removes a collision convex.

Parameters

[in] index Index of convex to remove.

Note: The indices of convexes added after index are decremented by 1.; Planes referenced by this convex will not be removed.

virtual void PxCloth::removeCollisionPlane ( PxU32 index )

pure virtual

Removes a collision plane.

Parameters

[in] index Index of plane to remove.

Note: The indices of planes added after index are decremented by 1.; Convexes that reference the plane will have the plane removed from their mask. If after removal a convex consists of zero planes, it will also be removed.

virtual void PxCloth::removeCollisionSphere ( PxU32 index )

pure virtual

Removes collision sphere.

Parameters

[in] index Index of sphere to remove.

Note: The indices of spheres added after index are decremented by 1.; Capsules made from the sphere to be removed are removed as well.

virtual void PxCloth::removeCollisionTriangle ( PxU32 index )

pure virtual

Removes a collision triangle.

Parameters

[in] index Index of triangle to remove.

Note: The indices of triangles added after index are decremented by 1.

virtual void PxCloth::setAngularDragCoefficient ( PxVec3 dragCoefficient )

pure virtual

Sets the angular drag coefficient.

The angular drag coefficient is the portion of the pose rotation that is applied to each particle per stiffness period (see PxCloth::setStiffnessFrequency).

Note: The scale is specified independently for each local rotation axis.

Parameters

[in] dragCoefficient New angular drag coefficient between 0.0f and 1.0 (default: 0.0).

Note: The drag coefficient shouldn't be set higher than the damping coefficient.

virtual void PxCloth::setAngularInertiaScale ( PxVec3 scale )

pure virtual

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters

[in] scale New scale factor between 0.0 (no inertia) and 1.0 (full inertia) (default: 1.0).

Note: The scale is specified independently for each local rotation axis.; A value of 0.0 disables all inertia effects of rotations applied through setTargetPos().

See Also: setTargetPose()

virtual void PxCloth::setCentrifugalInertiaScale ( PxVec3 scale )

pure virtual

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters

[in] scale New scale factor between 0.0 (no centrifugal force) and 1.0 (full centrifugal force) (default: 1.0).

Note: The scale is specified independently for each local rotation axis.; A value of 0.0 disables all centrifugal forces of rotations applied through setTargetPos().

See Also: setTargetPose()

virtual void PxCloth::setClothFlag	(	PxClothFlag::Enum	flag,
		bool	value
	)

pure virtual

Sets cloth flags (e.g. use GPU for simulation, enable CCD, collide against scene).

Parameters

[in]	flag	Mask of which flags to set.
[in]	value	Value to set flags to.

virtual void PxCloth::setClothFlags ( PxClothFlags inFlags )

pure virtual

Set all cloth flags.

Parameters

[in] inFlags Bit mask of flag values

virtual void PxCloth::setCollisionMassScale ( PxReal scalingCoefficient )

pure virtual

Sets the collision mass scaling coefficient.

During collision it is possible to artificially increase the mass of a colliding particle, this has an effect comparable to making constraints attached to the particle stiffer and can help reduce stretching and interpenetration around collision shapes.

Parameters

[in] scalingCoefficient Unitless multiplier that can take on values > 1 (default: 0.0).

virtual void PxCloth::setCollisionPlanes	(	const PxClothCollisionPlane *	planesBuffer,
		PxU32	count
	)

pure virtual

Updates positions of collision planes.

Parameters

[in]	planesBuffer	New plane positions by the end of the next simulate() call.
[in]	count	New number of collision planes.

Note: You can also use this function to change the number of collision planes.; A maximum of 32 planes are supported.

See Also: clearInterpolation()

virtual void PxCloth::setCollisionSpheres	(	const PxClothCollisionSphere *	spheresBuffer,
		PxU32	count
	)

pure virtual

Updates location and radii of collision spheres.

Parameters

[in]	spheresBuffer	New sphere positions and radii by the end of the next simulate() call.
[in]	count	New number of collision spheres.

Note: You can also use this function to change the number of collision spheres.; A maximum of 32 spheres are supported.

See Also: clearInterpolation()

virtual void PxCloth::setCollisionTriangles	(	const PxClothCollisionTriangle *	trianglesBuffer,
		PxU32	count
	)

pure virtual

Updates positions of collision triangles.

Parameters

[in]	trianglesBuffer	New triangle positions by the end of the next simulate() call.
[in]	count	New number of collision triangles.

Note: You can also use this function to change the number of collision triangles.; GPU cloth is limited to 500 triangles per instance.

See Also: clearInterpolation()

virtual void PxCloth::setContactOffset ( PxReal offset )

pure virtual

Sets the width by which the cloth bounding box is increased to find nearby scene collision shapes.

The cloth particles collide against shapes in the scene that intersect the cloth bounding box enlarged by the contact offset (if the eSCENE_COLLISION flag is set). Default: 0.0f

Parameters

[in] offset Range: [0, PX_MAX_F32)

See Also: getContactOffset setRestOffset

virtual void PxCloth::setDampingCoefficient ( PxVec3 dampingCoefficient )

pure virtual

Sets the damping coefficient.

The damping coefficient is the portion of local particle velocity that is canceled per stiffness period (see PxCloth::setStiffnessFrequency).

Note: The scale is specified independently for each local space axis.

Parameters

[in] dampingCoefficient New damping coefficient between 0.0 and 1.0 (default: 0.0).

virtual void PxCloth::setDragCoefficient ( PxReal scale )

pure virtual

Same as setLinearDragCoefficient(PxVec3(coefficient)); setAngularDragCoefficient(PxVec3(coefficient));

virtual void PxCloth::setExternalAcceleration ( PxVec3 acceleration )

pure virtual

Sets external particle accelerations.

Parameters

[in] acceleration New acceleration in global coordinates (default: 0.0).

Note: Use this to implement simple wind etc.

virtual void PxCloth::setFrictionCoefficient ( PxReal frictionCoefficient )

pure virtual

Sets the collision friction coefficient.

Parameters

[in] frictionCoefficient New friction coefficient between 0.0 and 1.0 (default: 0.0).

Note: Currently only spheres and capsules impose friction on the colliding particles.

virtual void PxCloth::setGlobalPose ( const PxTransform & pose )

pure virtual

Sets current pose of the cloth without affecting inertia.

Use this to reset the pose (e.g. teleporting).

Parameters

[in] pose New global pose.

Note: No pose interpolation is performed.; Inertia is not preserved.

See Also: setTargetPose() for inertia preserving method.

virtual void PxCloth::setInertiaScale ( PxReal scale )

pure virtual

Same as setLinearInertiaScale(PxVec3(scale)); setAngularInertiaScale(PxVec3(scale)); getCentrifugalInertiaScale(PxVec3(scale));

virtual void PxCloth::setLinearDragCoefficient ( PxVec3 dragCoefficient )

pure virtual

Sets the linear drag coefficient.

The linear drag coefficient is the portion of the pose translation that is applied to each particle per stiffness period (see PxCloth::setStiffnessFrequency).

Note: The scale is specified independently for each local space axis.

Parameters

[in] dragCoefficient New linear drag coefficient between 0.0f and 1.0 (default: 0.0).

Note: The drag coefficient shouldn't be set higher than the damping coefficient.

virtual void PxCloth::setLinearInertiaScale ( PxVec3 scale )

pure virtual

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters

[in] scale New scale factor between 0.0 (no inertia) and 1.0 (full inertia) (default: 1.0).

Note: The scale is specified independently for each local coordinate axis.; A value of 0.0 disables all inertia effects of translations applied through setTargetPos().

See Also: setTargetPose()

virtual void PxCloth::setMotionConstraintConfig ( const PxClothMotionConstraintConfig & config )

pure virtual

Specifies motion constraint scale, bias, and stiffness.

Parameters

[in] config Motion constraints solver parameters.

virtual void PxCloth::setMotionConstraints ( const PxClothParticleMotionConstraint * motionConstraints )

pure virtual

Updates motion constraints (position and radius of the constraint sphere).

Parameters

[in] motionConstraints motion constraints at the end of the next simulate() call.

Note: The motionConstraints must either be null to disable motion constraints, or be the same length as the number of particles, see getNbParticles().

See Also: clearInterpolation()

virtual void PxCloth::setParticleAccelerations ( const PxVec4 * particleAccelerations )

pure virtual

Updates particle accelerations, w component is ignored.

Parameters

[in] particleAccelerations New particle accelerations.

Note: The particleAccelerations must either be null to disable accelerations, or be the same length as the number of particles, see getNbParticles().

virtual void PxCloth::setParticles	(	const PxClothParticle *	currentParticles,
		const PxClothParticle *	previousParticles
	)

pure virtual

Updates cloth particle location or inverse weight for current and previous particle state.

Parameters

[in]	currentParticles	The particle data for the current particle state or NULL if the state should not be changed.
[in]	previousParticles	The particle data for the previous particle state or NULL if the state should not be changed.

Note: The invWeight stored in previousParticles is the new particle inverse mass, or zero for a static particle. However, if invWeight stored in currentParticles is non-zero, it is still used once for the next particle integration and fabric solve.; If currentParticles or previousParticles are non-NULL then they must be the length specified by getNbParticles().; This can be used to teleport particles (use same positions for current and previous).

See Also: PxClothParticle

virtual void PxCloth::setRestOffset ( PxReal offset )

pure virtual

Sets the minimum distance between colliding cloth particles and scene shapes.

Cloth particles colliding against shapes in the scene get no closer to the shape's surface than specified by the rest offset (if the eSCENE_COLLISION flag is set). Default: 0.0f

Parameters

[in] offset Range: [0, PX_MAX_F32)

See Also: getRestOffset setContactOffset

virtual void PxCloth::setRestPositions ( const PxVec4 * restPositions )

pure virtual

Sets the cloth particles rest positions.

If non-null the cloth self-collision will consider the rest positions by discarding particle->particle collision where the distance between the associated rest particles is < the self collision distance. This allows self-collision distances that are larger than the minimum edge length in the mesh. Typically this function should be called with the same positions used to construct the cloth instance.

Parameters

[in] restPositions Undeformed particle positions, the w component will be ignored

Note: restPositions must either be null to disable rest position consideration, or be the same length as the number of particles, see getNbParticles().

virtual void PxCloth::setSelfCollisionDistance ( PxReal distance )

pure virtual

Sets the self collision distance.

A value larger than 0.0 enables particle versus particle collision.

Parameters

[in] distance Minimum distance at which two particles repel each other (default: 0.0).

virtual void PxCloth::setSelfCollisionIndices	(	const PxU32 *	indices,
		PxU32	nbIndices
	)

pure virtual

Sets a subset of cloth particles which participate in self-collision.

If non-null the cloth self-collision will consider a subset of particles instead of all the particles. This can be used to improve self-collision performance or to increase the minimum distance between two self-colliding particles (and therefore the maximum sensible self-collision distance).

Parameters

[in]	indices	array of particle indices which participate in self-collision.
[in]	nbIndices	number of particle indices, or 0 to use all particles for self-collision.

Note: These indices will also be used if cloth inter-collision is enabled.

virtual void PxCloth::setSelfCollisionStiffness ( PxReal stiffness )

pure virtual

Sets the self collision stiffness.

Self-collision stiffness controls how much two particles repel each other when they are closer than the self-collision distance.

Parameters

[in] stiffness Fraction of distance residual to resolve per iteration (default: 1.0).

virtual void PxCloth::setSeparationConstraints ( const PxClothParticleSeparationConstraint * separationConstraints )

pure virtual

Updates separation constraints (position and radius of the constraint sphere).

Parameters

[in] separationConstraints separation constraints at the end of the next simulate() call.

Note: The separationConstraints must either be null to disable separation constraints, or be the same length as the number of particles, see getNbParticles().

See Also: clearInterpolation()

virtual void PxCloth::setSimulationFilterData ( const PxFilterData & data )

pure virtual

Sets the user definable collision filter data.

Parameters

data	The data that will be returned in the PxScene filter shader callback.

Note: To disable collision on a cloth actor it is sufficient to set the filter data to some non-zero value (if using the SDK's default filter shader).

See Also: PxSimulationFilterShader PxFilterData

virtual void PxCloth::setSleepLinearVelocity ( PxReal threshold )

pure virtual

Sets the velocity threshold for putting cloth in sleep state.

If none of the particles moves faster (in local space) than the threshold for a while, the cloth will be put in sleep state and simulation will be skipped.

Parameters

[in] threshold Velocity threshold (default: 0.0f)

virtual void PxCloth::setSolverFrequency ( PxReal frequency )

pure virtual

Sets the solver frequency parameter.

Solver frequency specifies how often the simulation step is computed per second. For example, a value of 60 represents one simulation step per frame in a 60fps scene. A value of 120 will represent two simulation steps per frame, etc.

Parameters

[in] frequency Solver frequency per second (default: 60.0).

virtual void PxCloth::setStiffnessFrequency ( PxReal frequency )

pure virtual

Sets the stiffness frequency parameter.

The stiffness frequency controls the power-law nonlinearity of all rate of change parameters (stretch stiffness, shear stiffness, bending stiffness, tether stiffness, self-collision stiffness, motion constraint stiffness, damp coefficient, linear and angular drag coefficients). Increasing the frequency avoids numerical cancellation for values near zero or one, but increases the non-linearity of the parameter. It is not recommended to change this parameter after cloth initialization. For example, the portion of edge overstretch removed per second is equal to the stretch stiffness raised to the power of the stiffness frequency.

Parameters

[in] frequency Stiffness frequency per second (default: 10.0).

virtual void PxCloth::setStretchConfig	(	PxClothFabricPhaseType::Enum	type,
		const PxClothStretchConfig &	config
	)

pure virtual

Sets the solver parameters for the vertical solver phases.

Parameters

[in]	config	Stretch solver parameters.
[in]	type	Type of phases to set config for.

virtual void PxCloth::setTargetPose ( const PxTransform & pose )

pure virtual

Sets pose that the cloth should move to by the end of the next simulate() call.

This function will move the cloth in world space. The resulting simulation may reflect inertia effect as a result of pose acceleration.

Parameters

[in] pose Target pose at the end of the next simulate() call.

See Also: setGlobalPose() to move Cloth without inertia effect.

virtual void PxCloth::setTetherConfig ( const PxClothTetherConfig & config )

pure virtual

Sets the stiffness parameters for the tether constraints.

Parameters

[in] config Tether constraints solver parameters.

virtual void PxCloth::setVirtualParticles	(	PxU32	numVirtualParticles,
		const PxU32 *	indices,
		PxU32	numWeights,
		const PxVec3 *	weights
	)

pure virtual

Assigns virtual particles.

Virtual particles provide more robust and accurate collision handling against collision spheres and capsules. More virtual particles will generally increase the accuracy of collision handling, and thus a sufficient number of virtual particles can mimic triangle-based collision handling.
Virtual particles are specified as barycentric interpolation of real particles: The position of a virtual particle is w0 * P0 + w1 * P1 + w2 * P2, where P0, P1, P2 real particle positions. The barycentric weights w0, w1, w2 are stored in a separate table so they can be shared across multiple virtual particles.

Parameters

[in]	numVirtualParticles	total number of virtual particles.
[in]	indices	Each virtual particle has four indices, the first three for real particle indices, and the last for the weight table index. Thus, the length of indices needs to be 4*numVirtualParticles.
[in]	numWeights	total number of unique weights triples.
[in]	weights	array for barycentric weights.

Note: Virtual particles only incur a runtime cost during the collision stage. Still, it is advisable to only use virtual particles for areas where high collision accuracy is desired. (e.g. sleeve around elbow).

virtual void PxCloth::setWakeCounter ( PxReal wakeCounterValue )

pure virtual

Sets the wake counter for the cloth.

The wake counter value determines how long all particles need to move less than the velocity threshold until the cloth is put to sleep (see setSleepLinearVelocity()).

Note: Passing in a positive value will wake the cloth up automatically. Default: 0.395 (which corresponds to 20 frames for a time step of 0.02)

Parameters

[in] wakeCounterValue Wake counter value. Range: [0, PX_MAX_F32)

See Also: isSleeping() getWakeCounter()

virtual void PxCloth::wakeUp ( )

pure virtual

Forces cloth to wake up from sleep state.

Note: This will set the wake counter of the cloth to the value specified in PxSceneDesc::wakeCounterResetValue.; It is invalid to use this method if the cloth has not been added to a scene already.

See Also: isSleeping() putToSleep()

The documentation for this class was generated from the following file:

PxCloth.h

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