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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxConstructSolverBodies (const PxRigidBodyData *inRigidData, PxSolverBodyData *outSolverBodyData, const PxU32 nbBodies, const PxVec3 &gravity, const PxReal dt) |
| | Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxConstructStaticSolverBody (const PxTransform &globalPose, PxSolverBodyData &solverBodyData) |
| | Constructs a PxSolverBodyData structure for a static body at a given pose. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API PxU32 | PxBatchConstraints (const PxSolverConstraintDesc *solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody *solverBodies, const PxU32 nbBodies, PxConstraintBatchHeader *outBatchHeaders, PxSolverConstraintDesc *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const PxU32 nbArticulations=0) |
| | Groups together sets of independent PxSolverConstraintDesc objects to be solved using SIMD SOA approach. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateContactConstraints (PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxSolverContactDesc *contactDescs, PxConstraintAllocator &allocator, const PxReal invDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance) |
| | Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the PxConstraintAllocator provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraints (PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal invDt) |
| | Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraintsWithShaders (PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxConstraint **constraints, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal invDt) |
| | Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraintsWithImmediateShaders (PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint *constraints, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal invDt) |
| | Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxSolveConstraints (const PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, const PxSolverBody *solverBodies, PxVec3 *linearMotionVelocity, PxVec3 *angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations, const float dt=0.0f, const float invDt=0.0f, const PxU32 nbSolverArticulations=0, Dy::ArticulationV **solverArticulations=NULL) |
| | Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures. Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxIntegrateSolverBodies (PxSolverBodyData *solverBodyData, PxSolverBody *solverBody, const PxVec3 *linearMotionVelocity, const PxVec3 *angularMotionState, const PxU32 nbBodiesToIntegrate, const PxReal dt) |
| | Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBodyData stores all the body's velocity data. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxGenerateContacts (const PxGeometry *const *geom0, const PxGeometry *const *geom1, const PxTransform *pose0, const PxTransform *pose1, PxCache *contactCache, const PxU32 nbPairs, PxContactRecorder &contactRecorder, const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator &allocator) |
| | Performs contact generation for a given pair of geometries at the specified poses. Produced contacts are stored in the provided Gu::ContactBuffer. Information is cached in PxCache structure to accelerate future contact generation between pairs. This cache data is valid only as long as the memory provided by PxCacheAllocator has not been released/re-used. Recommendation is to retain that data for a single simulation frame, discarding cached data after 2 frames. If the cached memory has been released/re-used prior to the corresponding pair having contact generation performed again, it is the application's responsibility to reset the PxCache. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxRegisterImmediateArticulations () |
| | Register articulation-related solver functions. This is equivalent to PxRegisterArticulationsReducedCoordinate() for PxScene-level articulations. Call this first to enable reduced coordinates articulations in immediate mode. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV * | PxCreateFeatherstoneArticulation (const PxFeatherstoneArticulationData &data) |
| | Creates an immediate-mode reduced-coordinate articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxReleaseArticulation (Dy::ArticulationV *articulation) |
| | Releases an immediate-mode reduced-coordinate articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache * | PxCreateArticulationCache (Dy::ArticulationV *articulation) |
| | Creates an articulation cache. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxCopyInternalStateToArticulationCache (Dy::ArticulationV *articulation, PxArticulationCache &cache, PxArticulationCacheFlags flag) |
| | Copy the internal data of the articulation to the cache. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxApplyArticulationCache (Dy::ArticulationV *articulation, PxArticulationCache &cache, PxArticulationCacheFlags flag) |
| | Apply the user defined data in the cache to the articulation system. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxReleaseArticulationCache (PxArticulationCache &cache) |
| | Release an articulation cache. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationLinkHandle | PxAddArticulationLink (Dy::ArticulationV *articulation, const PxFeatherstoneArticulationLinkData &data, bool isLastLink=false) |
| | Adds a link to an immediate-mode reduced-coordinate articulation. The articulation becomes the link's owner/parent. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV * | PxGetLinkArticulation (const Dy::ArticulationLinkHandle link) |
| | Retrieves owner/parent articulation handle from a link handle. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API PxU32 | PxGetLinkIndex (const Dy::ArticulationLinkHandle link) |
| | Retrieves link index from a link handle. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxGetLinkData (const Dy::ArticulationLinkHandle link, PxLinkData &data) |
| | Retrieves non-mutable link data from a link handle. The data here is computed by the articulation code but cannot be directly changed by users. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API PxU32 | PxGetAllLinkData (const Dy::ArticulationV *articulation, PxLinkData *data) |
| | Retrieves non-mutable link data from an articulation handle (all links). The data here is computed by the articulation code but cannot be directly changed by users. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxGetMutableLinkData (const Dy::ArticulationLinkHandle link, PxMutableLinkData &data) |
| | Retrieves mutable link data from a link handle. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxSetMutableLinkData (Dy::ArticulationLinkHandle link, const PxMutableLinkData &data) |
| | Sets mutable link data for given link. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxGetJointData (const Dy::ArticulationLinkHandle link, PxFeatherstoneArticulationJointData &data) |
| | Retrieves joint data from a link handle. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxSetJointData (Dy::ArticulationLinkHandle link, const PxFeatherstoneArticulationJointData &data) |
| | Sets joint data for given link. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxComputeUnconstrainedVelocities (Dy::ArticulationV *articulation, const PxVec3 &gravity, const PxReal dt) |
| | Computes unconstrained velocities for a given articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxUpdateArticulationBodies (Dy::ArticulationV *articulation, const PxReal dt) |
| | Updates bodies for a given articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxComputeUnconstrainedVelocitiesTGS (Dy::ArticulationV *articulation, const PxVec3 &gravity, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt) |
| | Computes unconstrained velocities for a given articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxUpdateArticulationBodiesTGS (Dy::ArticulationV *articulation, const PxReal dt) |
| | Updates bodies for a given articulation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxConstructSolverBodiesTGS (const PxRigidBodyData *inRigidData, PxTGSSolverBodyVel *outSolverBodyVel, PxTGSSolverBodyTxInertia *outSolverBodyTxInertia, PxTGSSolverBodyData *outSolverBodyData, const PxU32 nbBodies, const PxVec3 &gravity, const PxReal dt) |
| | Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxConstructStaticSolverBodyTGS (const PxTransform &globalPose, PxTGSSolverBodyVel &solverBodyVel, PxTGSSolverBodyTxInertia &solverBodyTxInertia, PxTGSSolverBodyData &solverBodyData) |
| | Constructs a PxSolverBodyData structure for a static body at a given pose. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API PxU32 | PxBatchConstraintsTGS (const PxSolverConstraintDesc *solverConstraintDescs, const PxU32 nbConstraints, PxTGSSolverBodyVel *solverBodies, const PxU32 nbBodies, PxConstraintBatchHeader *outBatchHeaders, PxSolverConstraintDesc *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const PxU32 nbArticulations=0) |
| | Groups together sets of independent PxSolverConstraintDesc objects to be solved using SIMD SOA approach. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateContactConstraintsTGS (PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxTGSSolverContactDesc *contactDescs, PxConstraintAllocator &allocator, const PxReal invDt, const PxReal invTotalDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance) |
| | Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the PxConstraintAllocator provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraintsTGS (PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale) |
| | Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraintsWithShadersTGS (PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxConstraint **constraints, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale) |
| | Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API bool | PxCreateJointConstraintsWithImmediateShadersTGS (PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint *constraints, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale) |
| | Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxSolveConstraintsTGS (const PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, PxTGSSolverBodyVel *solverBodies, PxTGSSolverBodyTxInertia *txInertias, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations, const float dt, const float invDt, const PxU32 nbSolverArticulations, Dy::ArticulationV **solverArticulations) |
| | Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures. Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities. More...
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| PX_C_EXPORT PX_PHYSX_CORE_API void | PxIntegrateSolverBodiesTGS (PxTGSSolverBodyVel *solverBody, PxTGSSolverBodyTxInertia *txInertia, PxTransform *poses, const PxU32 nbBodiesToIntegrate, const PxReal dt) |
| | Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBody stores all the body's velocity data. More...
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