PxRigidActor Class Referenceabstract

PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK. More...

#include <PxRigidActor.h>

Inheritance diagram for PxRigidActor:
Collaboration diagram for PxRigidActor:

Public Member Functions

virtual void release ()=0
 Deletes the rigid actor object. More...
 
Global Pose Manipulation
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...
 
Shapes
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...
 
- Public Member Functions inherited from PxActor
virtual PxActorType::Enum getType () const =0
 Retrieves the type of actor. More...
 
virtual PxScenegetScene () 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 PxAggregategetAggregate () const =0
 Retrieves the aggregate the actor might be a part of. More...
 
- Public Member Functions inherited from PxBase
virtual const char * getConcreteTypeName () const =0
 Returns string name of dynamic type. More...
 
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...
 

Constraints

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...
 
PX_INLINE PxRigidActor (PxType concreteType, PxBaseFlags baseFlags)
 
PX_INLINE PxRigidActor (PxBaseFlags baseFlags)
 
virtual ~PxRigidActor ()
 
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 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

PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK.

PxRigidActor objects specify the geometry of the object by defining a set of attached shapes (see PxShape).

See also
PxActor

Constructor & Destructor Documentation

◆ PxRigidActor() [1/2]

PX_INLINE PxRigidActor::PxRigidActor ( PxType  concreteType,
PxBaseFlags  baseFlags 
)
inlineprotected

◆ PxRigidActor() [2/2]

PX_INLINE PxRigidActor::PxRigidActor ( PxBaseFlags  baseFlags)
inlineprotected

◆ ~PxRigidActor()

virtual PxRigidActor::~PxRigidActor ( )
inlineprotectedvirtual

Member Function Documentation

◆ attachShape()

virtual bool PxRigidActor::attachShape ( PxShape shape)
pure virtual

attach a shared shape to an actor

This call will increment the reference count of the shape.

Note
Mass properties of dynamic rigid actors will not automatically be recomputed to reflect the new mass distribution implied by the shape. Follow this call with a call to the PhysX extensions method PxRigidBodyExt::updateMassAndInertia() to do that.

Attaching a triangle mesh, heightfield or plane geometry shape configured as eSIMULATION_SHAPE is not supported for non-kinematic PxRigidDynamic instances.

Sleeping: Does NOT wake the actor up automatically.

Parameters
[in]shapethe shape to attach.
Returns
True if success.

Referenced by PxRigidActorExt::createExclusiveShape().

◆ detachShape()

virtual void PxRigidActor::detachShape ( PxShape shape,
bool  wakeOnLostTouch = true 
)
pure virtual

detach a shape from an actor.

This will also decrement the reference count of the PxShape, and if the reference count is zero, will cause it to be deleted.

Sleeping: Does NOT wake the actor up automatically.

Parameters
[in]shapethe shape to detach.
[in]wakeOnLostTouchSpecifies whether touching objects from the previous frame should get woken up in the next frame. Only applies to PxArticulation and PxRigidActor types.

◆ getConstraints()

virtual PxU32 PxRigidActor::getConstraints ( PxConstraint **  userBuffer,
PxU32  bufferSize,
PxU32  startIndex = 0 
) const
pure virtual

Retrieve all the constraint shader pointers belonging to the actor.

You can retrieve the number of constraint shader pointers by calling getNbConstraints()

Note: Removing constraint shaders with PxConstraint::release() will invalidate the pointer of the released constraint.

Parameters
[out]userBufferThe buffer to store the constraint shader pointers.
[in]bufferSizeSize of provided user buffer.
[in]startIndexIndex of first constraint pointer to be retrieved
Returns
Number of constraint shader pointers written to the buffer.
See also
PxConstraint getNbConstraints() PxConstraint::release()

◆ getGlobalPose()

virtual PxTransform PxRigidActor::getGlobalPose ( ) const
pure virtual

Retrieves the actors world space transform.

The getGlobalPose() method retrieves the actor's current actor space to world space transformation.

Returns
Global pose of object.
See also
PxRigidDynamic.setGlobalPose() PxRigidStatic.setGlobalPose()

Referenced by PxShapeExt::getGlobalPose().

◆ getNbConstraints()

virtual PxU32 PxRigidActor::getNbConstraints ( ) const
pure virtual

Returns the number of constraint shaders attached to the actor.

You can use getConstraints() to retrieve the constraint shader pointers.

Returns
Number of constraint shaders attached to this actor.
See also
PxConstraint getConstraints()

◆ getNbShapes()

virtual PxU32 PxRigidActor::getNbShapes ( ) const
pure virtual

Returns the number of shapes assigned to the actor.

You can use getShapes() to retrieve the shape pointers.

Returns
Number of shapes associated with this actor.
See also
PxShape getShapes()

◆ getShapes()

virtual PxU32 PxRigidActor::getShapes ( PxShape **  userBuffer,
PxU32  bufferSize,
PxU32  startIndex = 0 
) const
pure virtual

Retrieve all the shape pointers belonging to the actor.

These are the shapes used by the actor for collision detection.

You can retrieve the number of shape pointers by calling getNbShapes()

Note: Removing shapes with PxShape::release() will invalidate the pointer of the released shape.

Parameters
[out]userBufferThe buffer to store the shape pointers.
[in]bufferSizeSize of provided user buffer.
[in]startIndexIndex of first shape pointer to be retrieved
Returns
Number of shape pointers written to the buffer.
See also
PxShape getNbShapes() PxShape::release()

◆ isKindOf()

virtual bool PxRigidActor::isKindOf ( const char *  superClass) const
inlineprotectedvirtual

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

Reimplemented from PxActor.

Reimplemented in PxRigidBody, PxRigidDynamic, PxArticulationLink, and PxRigidStatic.

References PxActor::isKindOf().

Referenced by PxRigidStatic::isKindOf(), and PxRigidBody::isKindOf().

◆ release()

virtual void PxRigidActor::release ( )
pure virtual

Deletes the rigid actor object.

Also releases any shapes associated with the actor.

Releasing an actor will affect any objects that are connected to the actor (constraint shaders like joints etc.). Such connected objects will be deleted upon scene deletion, or explicitly by the user by calling release() on these objects. It is recommended to always remove all objects that reference actors before the actors themselves are removed. It is not possible to retrieve list of dead connected objects.

Sleeping: This call will awaken any sleeping actors contacting the deleted actor (directly or indirectly).

Calls PxActor::release() so you might want to check the documentation of that method as well.

See also
PxActor::release()

Implements PxActor.

Implemented in PxArticulationLink.

◆ setGlobalPose()

virtual void PxRigidActor::setGlobalPose ( const PxTransform pose,
bool  autowake = true 
)
pure virtual

Method for setting an actor's pose in the world.

This method instantaneously changes the actor space to world space transformation.

This method is mainly for dynamic rigid bodies (see PxRigidDynamic). Calling this method on static actors is likely to result in a performance penalty, since internal optimization structures for static actors may need to be recomputed. In addition, moving static actors will not interact correctly with dynamic actors or joints.

To directly control an actor's position and have it correctly interact with dynamic bodies and joints, create a dynamic body with the PxRigidBodyFlag::eKINEMATIC flag, then use the setKinematicTarget() commands to define its path.

Even when moving dynamic actors, exercise restraint in making use of this method. Where possible, avoid:

  • moving actors into other actors, thus causing overlap (an invalid physical state)
  • moving an actor that is connected by a joint to another away from the other (thus causing joint error)

Sleeping: This call wakes dynamic actors if they are sleeping and the autowake parameter is true (default).

Parameters
[in]poseTransformation from the actors local frame to the global frame. Range: rigid body transform.
[in]autowakewhether to wake the object if it is dynamic. This parameter has no effect for static or kinematic actors. If true and the current wake counter value is smaller than PxSceneDesc::wakeCounterResetValue it will get increased to the reset value.
See also
getGlobalPose()

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