Public Member Functions | Protected Attributes | List of all members
PxContactSet Class Reference
Physics

An array of contact points, as passed to contact modification. More...

#include <PxContactModifyCallback.h>

Collaboration diagram for PxContactSet:
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Public Member Functions

PX_FORCE_INLINE const PxVec3 & getPoint (PxU32 i) const
 Get the position of a specific contact point in the set. More...
 
PX_FORCE_INLINE void setPoint (PxU32 i, const PxVec3 &p)
 Alter the position of a specific contact point in the set. More...
 
PX_FORCE_INLINE const PxVec3 & getNormal (PxU32 i) const
 Get the contact normal of a specific contact point in the set. More...
 
PX_FORCE_INLINE void setNormal (PxU32 i, const PxVec3 &n)
 Alter the contact normal of a specific contact point in the set. More...
 
PX_FORCE_INLINE PxReal getSeparation (PxU32 i) const
 Get the separation of a specific contact point in the set. More...
 
PX_FORCE_INLINE void setSeparation (PxU32 i, PxReal s)
 Alter the separation of a specific contact point in the set. More...
 
PX_FORCE_INLINE const PxVec3 & getTargetVelocity (PxU32 i) const
 Get the target velocity of a specific contact point in the set. More...
 
PX_FORCE_INLINE void setTargetVelocity (PxU32 i, const PxVec3 &v)
 Alter the target velocity of a specific contact point in the set. More...
 
PX_FORCE_INLINE PxU32 getInternalFaceIndex0 (PxU32 i)
 Get the face index with respect to the first shape of the pair for a specific contact point in the set. More...
 
PX_FORCE_INLINE PxU32 getInternalFaceIndex1 (PxU32 i)
 Get the face index with respect to the second shape of the pair for a specific contact point in the set. More...
 
PX_FORCE_INLINE PxReal getMaxImpulse (PxU32 i) const
 Get the maximum impulse for a specific contact point in the set. More...
 
PX_FORCE_INLINE void setMaxImpulse (PxU32 i, PxReal s)
 Alter the maximum impulse for a specific contact point in the set. More...
 
PX_FORCE_INLINE void ignore (PxU32 i)
 Ignore the contact point. More...
 
PX_FORCE_INLINE PxU32 size () const
 The number of contact points in the set. More...
 
PX_FORCE_INLINE PxReal getInvMassScale0 () const
 Returns the invMassScale of body 0. More...
 
PX_FORCE_INLINE PxReal getInvMassScale1 () const
 Returns the invMassScale of body 1. More...
 
PX_FORCE_INLINE PxReal getInvInertiaScale0 () const
 Returns the invInertiaScale of body 0. More...
 
PX_FORCE_INLINE PxReal getInvInertiaScale1 () const
 Returns the invInertiaScale of body 1. More...
 
PX_FORCE_INLINE void setInvMassScale0 (const PxReal scale)
 Sets the invMassScale of body 0. More...
 
PX_FORCE_INLINE void setInvMassScale1 (const PxReal scale)
 Sets the invMassScale of body 1. More...
 
PX_FORCE_INLINE void setInvInertiaScale0 (const PxReal scale)
 Sets the invInertiaScale of body 0. More...
 
PX_FORCE_INLINE void setInvInertiaScale1 (const PxReal scale)
 Sets the invInertiaScale of body 1. More...
 

Protected Attributes

PxU32 mCount
 Number of contact points in the set. More...
 
PxModifiableContact * mContacts
 The contact points of the set. More...
 

Detailed Description

An array of contact points, as passed to contact modification.

The word 'set' in the name does not imply that duplicates are filtered in any way. This initial set of contacts does potentially get reduced to a smaller set before being passed to the solver.

You can use the accessors to read and write contact properties. The number of contacts is immutable, other than being able to disable contacts using ignore().

See Also
PxContactModifyCallback, PxModifiableContact

Member Function Documentation

PX_FORCE_INLINE PxU32 PxContactSet::getInternalFaceIndex0 ( PxU32  i)
inline

Get the face index with respect to the first shape of the pair for a specific contact point in the set.

See Also
PxModifiableContact.internalFaceIndex0
PX_FORCE_INLINE PxU32 PxContactSet::getInternalFaceIndex1 ( PxU32  i)
inline

Get the face index with respect to the second shape of the pair for a specific contact point in the set.

See Also
PxModifiableContact.internalFaceIndex1
PX_FORCE_INLINE PxReal PxContactSet::getInvInertiaScale0 ( ) const
inline

Returns the invInertiaScale of body 0.

The scale is defaulted to 1.0, meaning that the body's true invInertia will be used.

References PxModifyContactHeader::invInertiaScale0.

PX_FORCE_INLINE PxReal PxContactSet::getInvInertiaScale1 ( ) const
inline

Returns the invInertiaScale of body 1.

The scale is defaulted to 1.0, meaning that the body's true invInertia will be used.

References PxModifyContactHeader::invInertiaScale1.

PX_FORCE_INLINE PxReal PxContactSet::getInvMassScale0 ( ) const
inline

Returns the invMassScale of body 0.

The scale is defaulted to 1.0, meaning that the body's true mass will be used.

References PxModifyContactHeader::invMassScale0.

PX_FORCE_INLINE PxReal PxContactSet::getInvMassScale1 ( ) const
inline

Returns the invMassScale of body 1.

The scale is defaulted to 1.0, meaning that the body's true mass will be used.

References PxModifyContactHeader::invMassScale1.

PX_FORCE_INLINE PxReal PxContactSet::getMaxImpulse ( PxU32  i) const
inline

Get the maximum impulse for a specific contact point in the set.

The value of maxImpulse is a real value in the range [0, PX_MAX_F32]. A value of 0 will disable the contact. The applied impulse will be clamped such that it cannot exceed the max impulse.

See Also
PxModifiableContact.maxImpulse
PX_FORCE_INLINE const PxVec3& PxContactSet::getNormal ( PxU32  i) const
inline

Get the contact normal of a specific contact point in the set.

The contact normal points from the second shape to the first shape.

See Also
PxModifiableContact.normal
PX_FORCE_INLINE const PxVec3& PxContactSet::getPoint ( PxU32  i) const
inline

Get the position of a specific contact point in the set.

The contact points could be on the surface of either shape and there are currently no guarantees provided upon which shape the points lie.

See Also
PxModifiableContact.point
PX_FORCE_INLINE PxReal PxContactSet::getSeparation ( PxU32  i) const
inline

Get the separation of a specific contact point in the set.

This value can be either positive or negative. A negative value denotes penetration whereas a positive value denotes separation.

See Also
PxModifiableContact.separation
PX_FORCE_INLINE const PxVec3& PxContactSet::getTargetVelocity ( PxU32  i) const
inline

Get the target velocity of a specific contact point in the set.

See Also
PxModifiableContact.targetVelocity
PX_FORCE_INLINE void PxContactSet::ignore ( PxU32  i)
inline

Ignore the contact point.

If a contact point is ignored then no force will get applied at this point. This can be used to disable collision in certain areas of a shape, for example.

PX_FORCE_INLINE void PxContactSet::setInvInertiaScale0 ( const PxReal  scale)
inline

Sets the invInertiaScale of body 0.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

References PxContactHeader::eHAS_MODIFIED_MASS_RATIOS, PxContactHeader::flags, and PxModifyContactHeader::invInertiaScale0.

PX_FORCE_INLINE void PxContactSet::setInvInertiaScale1 ( const PxReal  scale)
inline

Sets the invInertiaScale of body 1.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

References PxContactHeader::eHAS_MODIFIED_MASS_RATIOS, PxContactHeader::flags, and PxModifyContactHeader::invInertiaScale1.

PX_FORCE_INLINE void PxContactSet::setInvMassScale0 ( const PxReal  scale)
inline

Sets the invMassScale of body 0.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

References PxContactHeader::eHAS_MODIFIED_MASS_RATIOS, PxContactHeader::flags, and PxModifyContactHeader::invMassScale0.

PX_FORCE_INLINE void PxContactSet::setInvMassScale1 ( const PxReal  scale)
inline

Sets the invMassScale of body 1.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

References PxContactHeader::eHAS_MODIFIED_MASS_RATIOS, PxContactHeader::flags, and PxModifyContactHeader::invMassScale1.

PX_FORCE_INLINE void PxContactSet::setMaxImpulse ( PxU32  i,
PxReal  s 
)
inline

Alter the maximum impulse for a specific contact point in the set.

Note
Must be nonnegative. If set to zero, the contact point will be ignored, otherwise the impulse applied inside the solver will be clamped such that it cannot exceed this value.
See Also
PxModifiableContact.maxImpulse

References PxContactHeader::eHAS_MAX_IMPULSE, and PxContactHeader::flags.

PX_FORCE_INLINE void PxContactSet::setNormal ( PxU32  i,
const PxVec3 &  n 
)
inline

Alter the contact normal of a specific contact point in the set.

Note
Changing the normal can cause contact points to be ignored.
This must be a normalized vector.
See Also
PxModifiableContact.normal
PX_FORCE_INLINE void PxContactSet::setPoint ( PxU32  i,
const PxVec3 &  p 
)
inline

Alter the position of a specific contact point in the set.

See Also
PxModifiableContact.point
PX_FORCE_INLINE void PxContactSet::setSeparation ( PxU32  i,
PxReal  s 
)
inline

Alter the separation of a specific contact point in the set.

See Also
PxModifiableContact.separation
PX_FORCE_INLINE void PxContactSet::setTargetVelocity ( PxU32  i,
const PxVec3 &  v 
)
inline

Alter the target velocity of a specific contact point in the set.

The user-defined target velocity is used to complement the normal and frictional response to a contact. The actual response to a contact depends on the relative velocity, bounce threshold, mass properties and material properties.

The user-defined property should be defined as a relative velocity in the space (v0 - v1), where v0 is actor[0]'s velocity and v1 is actor[1]'s velocity.

Note
Target velocity can be set in any direction and is independent of the contact normal. Any component of the target velocity that projects onto the contact normal will affect normal response and may cause the bodies to either suck into each-other or separate. Any component of the target velocity that does not project onto the contact normal will affect the friction response. Target velocities tangential to the contact normal can be an effective way of replicating effects like a conveyor belt.
See Also
PxModifiableContact.targetVelocity

References PxContactHeader::eHAS_TARGET_VELOCITY, and PxContactHeader::flags.

PX_FORCE_INLINE PxU32 PxContactSet::size ( ) const
inline

The number of contact points in the set.

Member Data Documentation

PxModifiableContact* PxContactSet::mContacts
protected

The contact points of the set.

PxU32 PxContactSet::mCount
protected

Number of contact points in the set.

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

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