PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. More...

#include <PxRigidDynamic.h>

Inheritance diagram for PxRigidDynamic:

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Collaboration diagram for PxRigidDynamic:

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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) const =0
	Get target pose of a kinematically controlled dynamic 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 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...

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	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...

virtual void	setMaxLinearVelocity (PxReal maxLinVel)=0
	Lets you set the maximum linear velocity permitted for this actor. More...

virtual PxReal	getMaxLinearVelocity () const =0
	Retrieves the maximum angular velocity permitted for this 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 void	setForceAndTorque (const PxVec3 &force, const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Sets the impulsive force and torque defined in the global coordinate frame to the actor. More...

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 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 (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...

virtual void	setMaxContactImpulse (PxReal maxImpulse)=0
	Sets a limit on the impulse that may be applied at a contact. The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body. More...

virtual PxReal	getMaxContactImpulse () const =0
	Returns the maximum impulse that may be applied at a contact. More...

virtual PxU32	getInternalIslandNodeIndex () const =0
	Returns the island node index that only for internal use only. 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 bool	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...

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

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

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

PX_FORCE_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 PxRigidDynamicLockFlags	getRigidDynamicLockFlags () const =0
	Reads the PxRigidDynamic lock flags. More...

virtual void	setRigidDynamicLockFlag (PxRigidDynamicLockFlag::Enum flag, bool value)=0
	Raises or clears a particular rigid dynamic lock flag. More...

virtual void	setRigidDynamicLockFlags (PxRigidDynamicLockFlags flags)=0

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 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

Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.

Creation

Instances of this class are created by calling PxPhysics::createRigidDynamic() and deleted with release().

Visualizations

See also: PxRigidBody PxPhysics.createRigidDynamic() release()

Constructor & Destructor Documentation

◆ PxRigidDynamic() [1/2]

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

inlineprotected

◆ PxRigidDynamic() [2/2]

PX_INLINE PxRigidDynamic::PxRigidDynamic ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxRigidDynamic()

virtual PxRigidDynamic::~PxRigidDynamic ( )

inlineprotectedvirtual

Member Function Documentation

◆ getConcreteTypeName()

virtual const char* PxRigidDynamic::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

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

Implements PxBase.

◆ getContactReportThreshold()

virtual PxReal PxRigidDynamic::getContactReportThreshold ( ) const

pure virtual

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

Returns: Force threshold for contact reports.

See also: setContactReportThreshold PxPairFlag PxSimulationFilterShader PxSimulationFilterCallback

◆ getKinematicTarget()

virtual bool PxRigidDynamic::getKinematicTarget ( PxTransform & target ) const

pure virtual

Get target pose of a kinematically controlled dynamic actor.

Parameters

[out] target Transform to write the target pose to. Only valid if the method returns true.

Returns: True if the actor is a kinematically controlled dynamic and the target has been set, else False.

See also: setKinematicTarget() PxRigidBodyFlag setRigidBodyFlag()

◆ getRigidDynamicLockFlags()

virtual PxRigidDynamicLockFlags PxRigidDynamic::getRigidDynamicLockFlags ( ) const

pure virtual

Reads the PxRigidDynamic lock flags.

See the list of flags PxRigidDynamicLockFlag

Returns: The values of the PxRigidDynamicLock flags.

See also: PxRigidDynamicLockFlag setRigidDynamicLockFlag()

◆ getSleepThreshold()

virtual PxReal PxRigidDynamic::getSleepThreshold ( ) const

pure virtual

Returns the mass-normalized kinetic energy below which an actor may go to sleep.

Returns: The energy threshold for sleeping.

See also: isSleeping() wakeUp() putToSleep() setSleepThreshold()

◆ getSolverIterationCounts()

virtual void PxRigidDynamic::getSolverIterationCounts	(	PxU32 &	minPositionIters,
		PxU32 &	minVelocityIters
	)		const

pure virtual

Retrieves the solver iteration counts.

See also: setSolverIterationCounts()

◆ getStabilizationThreshold()

virtual PxReal PxRigidDynamic::getStabilizationThreshold ( ) const

pure virtual

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.

Returns: The energy threshold for participating in stabilization.

See also: setStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

◆ getWakeCounter()

virtual PxReal PxRigidDynamic::getWakeCounter ( ) const

pure virtual

Returns the wake counter of the actor.

Returns: The wake counter of the actor.

See also: isSleeping() setWakeCounter()

◆ isKindOf()

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

inlineprotectedvirtual

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

Reimplemented from PxRigidBody.

References PxRigidBody::isKindOf().

◆ isSleeping()

virtual bool PxRigidDynamic::isSleeping ( ) const

pure virtual

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:

The wake counter is positive (see setWakeCounter()).
The linear or angular velocity is non-zero.
A non-zero force or torque has been applied.

If a dynamic rigid actor is sleeping, the following state is guaranteed:

The wake counter is zero.
The linear and angular velocity is zero.
There is no force update pending.

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.

Note: A kinematic actor is asleep unless a target pose has been set (in which case it will stay awake until the end of the next simulation step where no target pose has been set anymore). The wake counter will get set to zero or to the reset value PxSceneDesc::wakeCounterResetValue in the case where a target pose has been set to be consistent with the definitions above.; It is invalid to use this method if the actor has not been added to a scene already.

Returns: True if the actor is sleeping.

See also: isSleeping() wakeUp() putToSleep() getSleepThreshold()

◆ putToSleep()

virtual void PxRigidDynamic::putToSleep ( )

pure virtual

Forces the actor to sleep.

The actor will stay asleep during the next simulation step if not touched by another non-sleeping actor.

Note: Any applied force will be cleared and the velocity and the wake counter of the actor will be set to 0.; It is invalid to use this method if the actor has not been added to a scene already or if PxActorFlag::eDISABLE_SIMULATION is set.; It is invalid to use this method for kinematic actors since the sleep state for kinematics is defined based on whether a target pose has been set (see the comment in isSleeping()).

See also: isSleeping() wakeUp()

◆ setContactReportThreshold()

virtual void PxRigidDynamic::setContactReportThreshold ( PxReal threshold )

pure virtual

Sets the force threshold for contact reports.

See getContactReportThreshold().

Parameters

[in] threshold Force threshold for contact reports. Range: [0, PX_MAX_F32)

See also: getContactReportThreshold PxPairFlag

◆ setKinematicTarget()

virtual void PxRigidDynamic::setKinematicTarget ( const PxTransform & destination )

pure virtual

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.

Note: It is invalid to use this method if the actor has not been added to a scene already or if PxActorFlag::eDISABLE_SIMULATION is set.

Sleeping: This call wakes the actor if it is sleeping and will set the wake counter to PxSceneDesc::wakeCounterResetValue.

Parameters

[in] destination The desired pose for the kinematic actor, in the global frame. Range: rigid body transform.

See also: getKinematicTarget() PxRigidBodyFlag setRigidBodyFlag()

◆ setRigidDynamicLockFlag()

virtual void PxRigidDynamic::setRigidDynamicLockFlag	(	PxRigidDynamicLockFlag::Enum	flag,
		bool	value
	)

pure virtual

Raises or clears a particular rigid dynamic lock flag.

See the list of flags PxRigidDynamicLockFlag

Default: no flags are set

Parameters

[in]	flag	The PxRigidDynamicLockBody flag to raise(set) or clear. See PxRigidBodyFlag.
[in]	value	The new boolean value for the flag.

See also: PxRigidDynamicLockFlag getRigidDynamicLockFlags()

◆ setRigidDynamicLockFlags()

virtual void PxRigidDynamic::setRigidDynamicLockFlags ( PxRigidDynamicLockFlags flags )

pure virtual

◆ setSleepThreshold()

virtual void PxRigidDynamic::setSleepThreshold ( PxReal threshold )

pure virtual

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

Parameters

[in] threshold Energy below which an actor may go to sleep. Range: [0, PX_MAX_F32)

See also: isSleeping() getSleepThreshold() wakeUp() putToSleep() PxTolerancesScale

◆ setSolverIterationCounts()

virtual void PxRigidDynamic::setSolverIterationCounts	(	PxU32	minPositionIters,
		PxU32	minVelocityIters = `1`
	)

pure virtual

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

Parameters

[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]

See also: getSolverIterationCounts()

◆ setStabilizationThreshold()

virtual void PxRigidDynamic::setStabilizationThreshold ( PxReal threshold )

pure virtual

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

Parameters

[in] threshold Energy below which an actor may participate in stabilization. Range: [0,inf)

See also: getStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

◆ setWakeCounter()

virtual void PxRigidDynamic::setWakeCounter ( PxReal wakeCounterValue )

pure virtual

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.

Note: Passing in a positive value will wake the actor up automatically.; It is invalid to use this method for kinematic actors since the wake counter for kinematics is defined based on whether a target pose has been set (see the comment in isSleeping()).; It is invalid to use this method if PxActorFlag::eDISABLE_SIMULATION is set.

Default: 0.4 (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()

◆ wakeUp()

virtual void PxRigidDynamic::wakeUp ( )

pure virtual

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.

Note: This will set the wake counter of the actor to the value specified in PxSceneDesc::wakeCounterResetValue.; It is invalid to use this method if the actor has not been added to a scene already or if PxActorFlag::eDISABLE_SIMULATION is set.; It is invalid to use this method for kinematic actors since the sleep state for kinematics is defined based on whether a target pose has been set (see the comment in isSleeping()).

See also: isSleeping() putToSleep()

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

PxRigidDynamic.h

Public Member Functions

Sleeping

Additional Inherited Members

Detailed Description

Creation

Visualizations

Constructor & Destructor Documentation

◆ PxRigidDynamic() [1/2]

◆ PxRigidDynamic() [2/2]

◆ ~PxRigidDynamic()

Member Function Documentation

◆ getConcreteTypeName()

◆ getContactReportThreshold()

◆ getKinematicTarget()

◆ getRigidDynamicLockFlags()

◆ getSleepThreshold()

◆ getSolverIterationCounts()

◆ getStabilizationThreshold()

◆ getWakeCounter()

◆ isKindOf()

◆ isSleeping()

◆ putToSleep()

◆ setContactReportThreshold()

◆ setKinematicTarget()

◆ setRigidDynamicLockFlag()

◆ setRigidDynamicLockFlags()

◆ setSleepThreshold()

◆ setSolverIterationCounts()

◆ setStabilizationThreshold()

◆ setWakeCounter()

◆ wakeUp()