PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. More...
#include <PxRigidDynamic.h>
Public Member Functions | |
Kinematic Actors | |
| virtual void | setKinematicTarget (const PxTransform &destination)=0 |
| Moves kinematically controlled dynamic actors through the game world. More... | |
| virtual bool | getKinematicTarget (PxTransform &target)=0 |
| Get target pose of a kinematically controlled dynamic actor. More... | |
Damping | |
| virtual void | setLinearDamping (PxReal linDamp)=0 |
| Sets the linear damping coefficient. More... | |
| virtual PxReal | getLinearDamping () const =0 |
| Retrieves the linear damping coefficient. More... | |
| virtual void | setAngularDamping (PxReal angDamp)=0 |
| Sets the angular damping coefficient. More... | |
| virtual PxReal | getAngularDamping () const =0 |
| Retrieves the angular damping coefficient. More... | |
Velocity | |
| virtual void | setMaxAngularVelocity (PxReal maxAngVel)=0 |
| Lets you set the maximum angular velocity permitted for this actor. More... | |
| virtual PxReal | getMaxAngularVelocity () const =0 |
| Retrieves the maximum angular velocity permitted for this actor. More... | |
 Public Member Functions inherited from PxRigidBody | |
| virtual void | setCMassLocalPose (const PxTransform &pose)=0 |
| Sets the pose of the center of mass relative to the actor. More... | |
| virtual PxTransform | getCMassLocalPose () const =0 |
| Retrieves the center of mass pose relative to the actor frame. More... | |
| virtual void | setMass (PxReal mass)=0 |
| Sets the mass of a dynamic actor. More... | |
| virtual PxReal | getMass () const =0 |
| Retrieves the mass of the actor. More... | |
| virtual PxReal | getInvMass () const =0 |
| Retrieves the inverse mass of the actor. More... | |
| virtual void | setMassSpaceInertiaTensor (const PxVec3 &m)=0 |
| Sets the inertia tensor, using a parameter specified in mass space coordinates. More... | |
| virtual PxVec3 | getMassSpaceInertiaTensor () const =0 |
| Retrieves the diagonal inertia tensor of the actor relative to the mass coordinate frame. More... | |
| virtual PxVec3 | getMassSpaceInvInertiaTensor () const =0 |
| Retrieves the diagonal inverse inertia tensor of the actor relative to the mass coordinate frame. More... | |
| virtual PxVec3 | getLinearVelocity () const =0 |
| Retrieves the linear velocity of an actor. More... | |
| virtual void | setLinearVelocity (const PxVec3 &linVel, bool autowake=true)=0 |
| Sets the linear velocity of the actor. More... | |
| virtual PxVec3 | getAngularVelocity () const =0 |
| Retrieves the angular velocity of the actor. More... | |
| virtual void | setAngularVelocity (const PxVec3 &angVel, bool autowake=true)=0 |
| Sets the angular velocity of the actor. More... | |
| virtual void | addForce (const PxVec3 &force, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0 |
| Applies a force (or impulse) defined in the global coordinate frame to the actor at its center of mass. More... | |
| virtual void | addTorque (const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0 |
| Applies an impulsive torque defined in the global coordinate frame to the actor. More... | |
| virtual void | clearForce (PxForceMode::Enum mode=PxForceMode::eFORCE)=0 |
| Clears the accumulated forces (sets the accumulated force back to zero). More... | |
| virtual void | clearTorque (PxForceMode::Enum mode=PxForceMode::eFORCE)=0 |
| Clears the impulsive torque defined in the global coordinate frame to the actor. More... | |
| virtual PX_DEPRECATED void | setRigidDynamicFlag (PxRigidDynamicFlag::Enum flag, bool value)=0 |
| Raises or clears a particular dynamic rigid body flag. More... | |
| virtual PX_DEPRECATED void | setRigidDynamicFlags (PxRigidDynamicFlags inFlags)=0 |
| virtual void | setRigidBodyFlag (PxRigidBodyFlag::Enum flag, bool value)=0 |
| Raises or clears a particular rigid body flag. More... | |
| virtual void | setRigidBodyFlags (PxRigidBodyFlags inFlags)=0 |
| virtual PX_DEPRECATED PxRigidDynamicFlags | getRigidDynamicFlags () const =0 |
| Reads the PxRigidBody flags. More... | |
| virtual PxRigidBodyFlags | getRigidBodyFlags () const =0 |
| Reads the PxRigidBody flags. More... | |
| virtual void | setMinCCDAdvanceCoefficient (PxReal advanceCoefficient)=0 |
| Sets the CCD minimum advance coefficient. More... | |
| virtual PxReal | getMinCCDAdvanceCoefficient () const =0 |
| Gets the CCD minimum advance coefficient. More... | |
| virtual void | setMaxDepenetrationVelocity (const PxReal biasClamp)=0 |
| Sets the maximum depenetration velocity permitted to be introduced by the solver. This value controls how much velocity the solver can introduce to correct for penetrations in contacts. More... | |
| virtual PxReal | getMaxDepenetrationVelocity () const =0 |
| Returns the maximum depenetration velocity the solver is permitted to introduced. This value controls how much velocity the solver can introduce to correct for penetrations in contacts. More... | |
| Public Member Functions inherited from PxRigidActor | |
| virtual void | release ()=0 |
| Deletes the rigid actor object. More... | |
| virtual PxTransform | getGlobalPose () const =0 |
| Retrieves the actors world space transform. More... | |
| virtual void | setGlobalPose (const PxTransform &pose, bool autowake=true)=0 |
| Method for setting an actor's pose in the world. More... | |
| virtual PxShape * | createShape (const PxGeometry &geometry, PxMaterial *const *materials, PxU16 materialCount, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE)=0 |
| Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor. More... | |
| PX_DEPRECATED PX_INLINE PxShape * | createShape (const PxGeometry &geometry, PxMaterial *const *materials, PxU32 materialCount, const PxTransform &localPose) |
| Deprecated function to create shapes with an initial transform. More... | |
| PX_FORCE_INLINE PxShape * | createShape (const PxGeometry &geometry, const PxMaterial &material, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE) |
| Creates a new shape with default properties and a single material adds it to the list of shapes of this actor. More... | |
| PX_DEPRECATED PX_INLINE PxShape * | createShape (const PxGeometry &geometry, const PxMaterial &material, const PxTransform &localPose) |
| Deprecated function to create shapes with an initial transform. More... | |
| virtual void | attachShape (PxShape &shape)=0 |
| virtual void | detachShape (PxShape &shape, bool wakeOnLostTouch=true)=0 |
| virtual PxU32 | getNbShapes () const =0 |
| Returns the number of shapes assigned to the actor. More... | |
| virtual PxU32 | getShapes (PxShape **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0 |
| Retrieve all the shape pointers belonging to the actor. More... | |
| virtual PxU32 | getNbConstraints () const =0 |
| Returns the number of constraint shaders attached to the actor. More... | |
| virtual PxU32 | getConstraints (PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0 |
| Retrieve all the constraint shader pointers belonging to the actor. 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 PxBounds3 | getWorldBounds (float inflation=1.01f) const =0 |
| Retrieves the axis aligned bounding box enclosing the actor. 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... | |
Sleeping | |
| virtual bool | isSleeping () const =0 |
| Returns true if this body is sleeping. More... | |
| virtual void | setSleepThreshold (PxReal threshold)=0 |
| Sets the mass-normalized kinetic energy threshold below which an actor may go to sleep. More... | |
| virtual PxReal | getSleepThreshold () const =0 |
| Returns the mass-normalized kinetic energy below which an actor may go to sleep. More... | |
| virtual void | setStabilizationThreshold (PxReal threshold)=0 |
| Sets the mass-normalized kinetic energy threshold below which an actor may participate in stabilization. More... | |
| virtual PxReal | getStabilizationThreshold () const =0 |
| Returns the mass-normalized kinetic energy below which an actor may participate in stabilization. More... | |
| virtual void | setWakeCounter (PxReal wakeCounterValue)=0 |
| Sets the wake counter for the actor. More... | |
| virtual PxReal | getWakeCounter () const =0 |
| Returns the wake counter of the actor. More... | |
| virtual void | wakeUp ()=0 |
| Wakes up the actor if it is sleeping. More... | |
| virtual void | putToSleep ()=0 |
| Forces the actor to sleep. More... | |
| virtual void | setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0 |
| Sets the solver iteration counts for the body. More... | |
| virtual void | getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0 |
| Retrieves the solver iteration counts. More... | |
| virtual PxReal | getContactReportThreshold () const =0 |
| Retrieves the force threshold for contact reports. More... | |
| virtual void | setContactReportThreshold (PxReal threshold)=0 |
| Sets the force threshold for contact reports. More... | |
| virtual const char * | getConcreteTypeName () const |
| Returns string name of dynamic type. More... | |
| PX_INLINE | PxRigidDynamic (PxType concreteType, PxBaseFlags baseFlags) |
| PX_INLINE | PxRigidDynamic (PxBaseFlags baseFlags) |
| virtual | ~PxRigidDynamic () |
| virtual bool | isKindOf (const char *name) const |
| Returns whether a given type name matches with the type of this instance. More... | |
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 Member Functions inherited from PxRigidBody | |
| PX_INLINE | PxRigidBody (PxType concreteType, PxBaseFlags baseFlags) |
| PX_INLINE | PxRigidBody (PxBaseFlags baseFlags) |
| virtual | ~PxRigidBody () |
| Protected Member Functions inherited from PxRigidActor | |
| PX_INLINE | PxRigidActor (PxType concreteType, PxBaseFlags baseFlags) |
| PX_INLINE | PxRigidActor (PxBaseFlags baseFlags) |
| virtual | ~PxRigidActor () |
| Protected Member Functions inherited from PxActor | |
| PX_INLINE | PxActor (PxType concreteType, PxBaseFlags baseFlags) |
| PX_INLINE | PxActor (PxBaseFlags baseFlags) |
| virtual | ~PxActor () |
| Protected Attributes inherited from PxBase | |
| PxType | mConcreteType |
| PxBaseFlags | mBaseFlags |
PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.
Instances of this class are created by calling PxPhysics::createRigidDynamic() and deleted with release().
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Retrieves the angular damping coefficient.
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Returns string name of dynamic type.
Reimplemented from PxBase.
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Retrieves the force threshold for contact reports.
The contact report threshold is a force threshold. If the force between two actors exceeds this threshold for either of the two actors, a contact report will be generated according to the contact report threshold flags provided by the filter shader/callback. See PxPairFlag.
The threshold used for a collision between a dynamic actor and the static environment is the threshold of the dynamic actor, and all contacts with static actors are summed to find the total normal force.
Default: PX_MAX_F32
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Get target pose of a kinematically controlled dynamic actor.
| [out] | target | Transform to write the target pose to. Only valid if the method returns true. |
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Retrieves the linear damping coefficient.
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Retrieves the maximum angular velocity permitted for this actor.
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Returns the mass-normalized kinetic energy below which an actor may go to sleep.
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Retrieves the solver iteration counts.
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Returns the mass-normalized kinetic energy below which an actor may participate in stabilization.
Actors whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.
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Returns the wake counter of the actor.
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Returns whether a given type name matches with the type of this instance.
Reimplemented from PxRigidBody.
References PxRigidBody::isKindOf().
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Returns true if this body is sleeping.
When an actor does not move for a period of time, it is no longer simulated in order to save time. This state is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object, or one of its properties is changed by the user, the entire sleep mechanism should be transparent to the user.
In general, a dynamic rigid actor is guaranteed to be awake if at least one of the following holds:
If a dynamic rigid actor is sleeping, the following state is guaranteed:
When an actor gets inserted into a scene, it will be considered asleep if all the points above hold, else it will be treated as awake.
If an actor is asleep after the call to PxScene::fetchResults() returns, it is guaranteed that the pose of the actor was not changed. You can use this information to avoid updating the transforms of associated objects.
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Forces the actor to sleep.
The actor will stay asleep during the next simulation step if not touched by another non-sleeping actor.
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Sets the angular damping coefficient.
Zero represents no damping.
The angular damping coefficient must be nonnegative.
Default: 0.05
| [in] | angDamp | Angular damping coefficient. Range: [0, PX_MAX_F32) |
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Sets the force threshold for contact reports.
See getContactReportThreshold().
| [in] | threshold | Force threshold for contact reports. Range: [0, PX_MAX_F32) |
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Moves kinematically controlled dynamic actors through the game world.
You set a dynamic actor to be kinematic using the PxRigidBodyFlag::eKINEMATIC flag with setRigidBodyFlag().
The move command will result in a velocity that 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.
This function simply stores the move destination until the next simulation step is processed, so consecutive calls will simply overwrite the stored target variable.
The motion is always fully carried out.
Sleeping: This call wakes the actor if it is sleeping and will set the wake counter to PxSceneDesc::wakeCounterResetValue.
| [in] | destination | The desired pose for the kinematic actor, in the global frame. Range: rigid body transform. |
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Sets the linear damping coefficient.
Zero represents no damping. The damping coefficient must be nonnegative.
Default: 0.0
| [in] | linDamp | Linear damping coefficient. Range: [0, PX_MAX_F32) |
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Lets you set the maximum angular velocity permitted for this actor.
For various internal computations, very quickly rotating actors introduce error into the simulation, which leads to undesired results.
With this function, you can set the maximum angular velocity permitted for this rigid body. Higher angular velocities are clamped to this value.
Note: The angular velocity is clamped to the set value before the solver, which means that the limit may still be momentarily exceeded.
Default: 7.0
| [in] | maxAngVel | Max allowable angular velocity for actor. Range: [0, PX_MAX_F32) |
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Sets the mass-normalized kinetic energy threshold below which an actor may go to sleep.
Actors whose kinetic energy divided by their mass is below this threshold will be candidates for sleeping.
Default: 5e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed
| [in] | threshold | Energy below which an actor may go to sleep. Range: [0, PX_MAX_F32) |
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Sets the solver iteration counts for the body.
The solver iteration count determines how accurately joints and contacts are resolved. If you are having trouble with jointed bodies oscillating and behaving erratically, then setting a higher position iteration count may improve their stability.
If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations. More velocity iterations will drive the relative exit velocity of the intersecting objects closer to the correct value given the restitution.
Default: 4 position iterations, 1 velocity iteration
| [in] | minPositionIters | Number of position iterations the solver should perform for this body. Range: [1,255] |
| [in] | minVelocityIters | Number of velocity iterations the solver should perform for this body. Range: [1,255] |
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Sets the mass-normalized kinetic energy threshold below which an actor may participate in stabilization.
Actors whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.
This value has no effect if PxSceneFlag::eENABLE_STABILIZATION was not enabled on the PxSceneDesc.
Default: 1e-5f * PxTolerancesScale::speed * PxTolerancesScale::speed
| [in] | threshold | Energy below which an actor may participate in stabilization. Range: (0,inf] |
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Sets the wake counter for the actor.
The wake counter value determines the minimum amount of time until the body can be put to sleep. Please note that a body will not be put to sleep if the energy is above the specified threshold (see setSleepThreshold()) or if other awake bodies are touching it.
Default: 0.4 (which corresponds to 20 frames for a time step of 0.02)
| [in] | wakeCounterValue | Wake counter value. Range: [0, PX_MAX_F32) |
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Wakes up the actor if it is sleeping.
The actor will get woken up and might cause other touching actors to wake up as well during the next simulation step.