Abstract class for collision shapes. More...

#include <PxShape.h>

Inheritance diagram for PxShape:

Collaboration diagram for PxShape:

Public Member Functions
virtual void	release ()=0
	Decrements the reference count of a shape and releases it if the new reference count is zero. More...

virtual PxU32	getReferenceCount () const =0
	Returns the reference count of the shape. More...

virtual void	acquireReference ()=0
	Acquires a counted reference to a shape. More...

virtual PxGeometryType::Enum	getGeometryType () const =0
	Get the geometry type of the shape. More...

virtual void	setGeometry (const PxGeometry &geometry)=0
	Adjust the geometry of the shape. More...

virtual PxGeometryHolder	getGeometry () const =0
	Retrieve the geometry from the shape in a PxGeometryHolder wrapper class. More...

virtual bool	getBoxGeometry (PxBoxGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getSphereGeometry (PxSphereGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getCapsuleGeometry (PxCapsuleGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getPlaneGeometry (PxPlaneGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getConvexMeshGeometry (PxConvexMeshGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getTriangleMeshGeometry (PxTriangleMeshGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual bool	getHeightFieldGeometry (PxHeightFieldGeometry &geometry) const =0
	Fetch the geometry of the shape. More...

virtual PxRigidActor *	getActor () const =0
	Retrieves the actor which this shape is associated with. More...

virtual void	setMaterials (PxMaterial const materials, PxU16 materialCount)=0
	Assigns material(s) to the shape. More...

virtual PxU16	getNbMaterials () const =0
	Returns the number of materials assigned to the shape. More...

virtual PxU32	getMaterials (PxMaterial **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the material pointers associated with the shape. More...

virtual PxMaterial *	getMaterialFromInternalFaceIndex (PxU32 faceIndex) const =0
	Retrieve material from given triangle index. More...

virtual void	setContactOffset (PxReal contactOffset)=0
	Sets the contact offset. More...

virtual PxReal	getContactOffset () const =0
	Retrieves the contact offset. More...

virtual void	setRestOffset (PxReal restOffset)=0
	Sets the rest offset. More...

virtual PxReal	getRestOffset () const =0
	Retrieves the rest offset. More...

virtual void	setTorsionalPatchRadius (PxReal radius)=0
	Sets torsional patch radius. More...

virtual PxReal	getTorsionalPatchRadius () const =0
	Gets torsional patch radius. More...

virtual void	setMinTorsionalPatchRadius (PxReal radius)=0
	Sets minimum torsional patch radius. More...

virtual PxReal	getMinTorsionalPatchRadius () const =0
	Gets minimum torsional patch radius. More...

virtual void	setFlag (PxShapeFlag::Enum flag, bool value)=0
	Sets shape flags. More...

virtual void	setFlags (PxShapeFlags inFlags)=0
	Sets shape flags. More...

virtual PxShapeFlags	getFlags () const =0
	Retrieves shape flags. More...

virtual bool	isExclusive () const =0
	Returns true if the shape is exclusive to an actor. 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 const char *	getConcreteTypeName () const
	Returns string name of dynamic type. More...

Pose Manipulation
virtual void	setLocalPose (const PxTransform &pose)=0
	Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached. More...

virtual PxTransform	getLocalPose () const =0
	Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by. More...

Collision Filtering
virtual void	setSimulationFilterData (const PxFilterData &data)=0
	Sets the user definable collision filter data. More...

virtual PxFilterData	getSimulationFilterData () const =0
	Retrieves the shape's collision filter data. More...

virtual void	setQueryFilterData (const PxFilterData &data)=0
	Sets the user definable query filter data. More...

virtual PxFilterData	getQueryFilterData () const =0
	Retrieves the shape's Query filter data. 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...

Public Attributes
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object. More...

Protected Member Functions
PX_INLINE	PxShape (PxBaseFlags baseFlags)

PX_INLINE	PxShape (PxType concreteType, PxBaseFlags baseFlags)

virtual	~PxShape ()

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance. More...

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

Additional Inherited Members
Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

Abstract class for collision shapes.

Shapes are shared, reference counted objects.

An instance can be created by calling the createShape() method of the PxRigidActor class, or the createShape() method of the PxPhysics class.

Visualizations

See also: PxPhysics.createShape() PxRigidActor.createShape() PxBoxGeometry PxSphereGeometry PxCapsuleGeometry PxPlaneGeometry PxConvexMeshGeometry PxTriangleMeshGeometry PxHeightFieldGeometry

Constructor & Destructor Documentation

◆ PxShape() [1/2]

PX_INLINE PxShape::PxShape ( PxBaseFlags baseFlags )

inlineprotected

◆ PxShape() [2/2]

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

inlineprotected

◆ ~PxShape()

virtual PxShape::~PxShape ( )

inlineprotectedvirtual

Member Function Documentation

◆ acquireReference()

virtual void PxShape::acquireReference ( )

pure virtual

Acquires a counted reference to a shape.

This method increases the reference count of the shape by 1. Decrement the reference count by calling release()

◆ getActor()

virtual PxRigidActor* PxShape::getActor ( ) const

pure virtual

Retrieves the actor which this shape is associated with.

Returns: The actor this shape is associated with, if it is an exclusive shape, else NULL

See also: PxRigidStatic, PxRigidDynamic, PxArticulationLink

◆ getBoxGeometry()

virtual bool PxShape::getBoxGeometry ( PxBoxGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getCapsuleGeometry()

virtual bool PxShape::getCapsuleGeometry ( PxCapsuleGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getConcreteTypeName()

virtual const char* PxShape::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

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

Implements PxBase.

◆ getContactOffset()

virtual PxReal PxShape::getContactOffset ( ) const

pure virtual

Retrieves the contact offset.

Returns: The contact offset of the shape.

See also: setContactOffset()

◆ getConvexMeshGeometry()

virtual bool PxShape::getConvexMeshGeometry ( PxConvexMeshGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getFlags()

virtual PxShapeFlags PxShape::getFlags ( ) const

pure virtual

Retrieves shape flags.

Returns: The values of the shape flags.

See also: PxShapeFlag setFlag()

◆ getGeometry()

virtual PxGeometryHolder PxShape::getGeometry ( ) const

pure virtual

Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.

Returns: a PxGeometryHolder object containing the geometry;

See also: PxGeometry PxGeometryType getGeometryType() setGeometry()

Referenced by PxShapeExt::getWorldBounds(), PxShapeExt::overlap(), PxShapeExt::raycast(), and PxShapeExt::sweep().

◆ getGeometryType()

virtual PxGeometryType::Enum PxShape::getGeometryType ( ) const

pure virtual

Get the geometry type of the shape.

Returns: Type of shape geometry.

See also: PxGeometryType

◆ getHeightFieldGeometry()

virtual bool PxShape::getHeightFieldGeometry ( PxHeightFieldGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getLocalPose()

virtual PxTransform PxShape::getLocalPose ( ) const

pure virtual

Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by.

This transformation is identity by default.

Returns: Pose of shape relative to the actor's frame.

See also: setLocalPose()

Referenced by PxShapeExt::getGlobalPose().

◆ getMaterialFromInternalFaceIndex()

virtual PxMaterial* PxShape::getMaterialFromInternalFaceIndex ( PxU32 faceIndex ) const

pure virtual

Retrieve material from given triangle index.

The input index is the internal triangle index as used inside the SDK. This is the index returned to users by various SDK functions such as raycasts.

This function is only useful for triangle meshes or heightfields, which have per-triangle materials. For other shapes the function returns the single material associated with the shape, regardless of the index.

Parameters

[in] faceIndex The internal triangle index whose material you want to retrieve.

Returns: Material from input triangle

Note: If faceIndex value of 0xFFFFffff is passed as an input for mesh and heightfield shapes, this function will issue a warning and return NULL.; Scene queries set the value of PxQueryHit::faceIndex to 0xFFFFffff whenever it is undefined or does not apply.

See also: PxMaterial getNbMaterials() PxMaterial::release()

◆ getMaterials()

virtual PxU32 PxShape::getMaterials	(	PxMaterial **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Retrieve all the material pointers associated with the shape.

You can retrieve the number of material pointers by calling getNbMaterials()

Note: Removing materials with PxMaterial::release() will invalidate the pointer of the released material.

Parameters

[out]	userBuffer	The buffer to store the material pointers.
[in]	bufferSize	Size of provided user buffer.
[in]	startIndex	Index of first material pointer to be retrieved

Returns: Number of material pointers written to the buffer.

See also: PxMaterial getNbMaterials() PxMaterial::release()

◆ getMinTorsionalPatchRadius()

virtual PxReal PxShape::getMinTorsionalPatchRadius ( ) const

pure virtual

Gets minimum torsional patch radius.

This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction that will be applied will be entirely dependent on the value of torsionalPatchRadius.

If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.

Returns: The minimum torsional patch radius of the shape.

◆ getName()

virtual const char* PxShape::getName ( ) const

pure virtual

retrieves the name string set with setName().

Returns: The name associated with the shape.

See also: setName()

◆ getNbMaterials()

virtual PxU16 PxShape::getNbMaterials ( ) const

pure virtual

Returns the number of materials assigned to the shape.

You can use getMaterials() to retrieve the material pointers.

Returns: Number of materials associated with this shape.

See also: PxMaterial getMaterials()

◆ getPlaneGeometry()

virtual bool PxShape::getPlaneGeometry ( PxPlaneGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getQueryFilterData()

virtual PxFilterData PxShape::getQueryFilterData ( ) const

pure virtual

Retrieves the shape's Query filter data.

See also: setQueryFilterData()

◆ getReferenceCount()

virtual PxU32 PxShape::getReferenceCount ( ) const

pure virtual

Returns the reference count of the shape.

At creation, the reference count of the shape is 1. Every actor referencing this shape increments the count by 1. When the reference count reaches 0, and only then, the shape gets destroyed automatically.

Returns: the current reference count.

◆ getRestOffset()

virtual PxReal PxShape::getRestOffset ( ) const

pure virtual

Retrieves the rest offset.

Returns: The rest offset of the shape.

See also: setRestOffset()

◆ getSimulationFilterData()

virtual PxFilterData PxShape::getSimulationFilterData ( ) const

pure virtual

Retrieves the shape's collision filter data.

See also: setSimulationFilterData()

◆ getSphereGeometry()

virtual bool PxShape::getSphereGeometry ( PxSphereGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ getTorsionalPatchRadius()

virtual PxReal PxShape::getTorsionalPatchRadius ( ) const

pure virtual

Gets torsional patch radius.

This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate rotational friction introduced by the compression of contacting surfaces.

Returns: The torsional patch radius of the shape.

◆ getTriangleMeshGeometry()

virtual bool PxShape::getTriangleMeshGeometry ( PxTriangleMeshGeometry & geometry ) const

pure virtual

Fetch the geometry of the shape.

Note: If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.

Parameters

[in] geometry The descriptor to save the shape's geometry data to.

Returns: True on success else false

See also: PxGeometry PxGeometryType getGeometryType()

◆ isExclusive()

virtual bool PxShape::isExclusive ( ) const

pure virtual

Returns true if the shape is exclusive to an actor.

See also: PxPhysics::createShape()

◆ isKindOf()

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

inlineprotectedvirtual

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

Reimplemented from PxBase.

References PxBase::isKindOf().

◆ release()

virtual void PxShape::release ( )

pure virtual

Decrements the reference count of a shape and releases it if the new reference count is zero.

Note that in releases prior to PhysX 3.3 this method did not have reference counting semantics and was used to destroy a shape created with PxActor::createShape(). In PhysX 3.3 and above, this usage is deprecated, instead, use PxRigidActor::detachShape() to detach a shape from an actor. If the shape to be detached was created with PxActor::createShape(), the actor holds the only counted reference, and so when the shape is detached it will also be destroyed.

See also: PxRigidActor::createShape() PxPhysics::createShape() PxRigidActor::attachShape() PxRigidActor::detachShape()

Implements PxBase.

Referenced by PxRigidActorExt::createExclusiveShape().

◆ setContactOffset()

virtual void PxShape::setContactOffset ( PxReal contactOffset )

pure virtual

Sets the contact offset.

Shapes whose distance is less than the sum of their contactOffset values will generate contacts. The contact offset must be positive and greater than the rest offset. Having a contactOffset greater than than the restOffset allows the collision detection system to predictively enforce the contact constraint even when the objects are slightly separated. This prevents jitter that would occur if the constraint were enforced only when shapes were within the rest distance.

Default: 0.02f * PxTolerancesScale::length

Sleeping: Does NOT wake the associated actor up automatically.

Parameters

[in] contactOffset Range: [maximum(0,restOffset), PX_MAX_F32)

See also: getContactOffset PxTolerancesScale setRestOffset

◆ setFlag()

virtual void PxShape::setFlag	(	PxShapeFlag::Enum	flag,
		bool	value
	)

pure virtual

Sets shape flags.

Sleeping: Does NOT wake the associated actor up automatically.

Parameters

[in]	flag	The shape flag to enable/disable. See PxShapeFlag.
[in]	value	True to set the flag. False to clear the flag specified in flag.

Default: PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eSCENE_QUERY_SHAPE

See also: PxShapeFlag getFlags()

◆ setFlags()

virtual void PxShape::setFlags ( PxShapeFlags inFlags )

pure virtual

Sets shape flags.

See also: PxShapeFlag getFlags()

◆ setGeometry()

virtual void PxShape::setGeometry ( const PxGeometry & geometry )

pure virtual

Adjust the geometry of the shape.

Note: The type of the passed in geometry must match the geometry type of the shape.; It is not allowed to change the geometry type of a shape.; This function does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.

Parameters

[in] geometry New geometry of the shape.

See also: PxGeometry PxGeometryType getGeometryType()

◆ setLocalPose()

virtual void PxShape::setLocalPose ( const PxTransform & pose )

pure virtual

Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached.

This transformation is identity by default.

The local pose is an attribute of the shape, and so will apply to all actors to which the shape is attached.

Sleeping: Does NOT wake the associated actor up automatically.

Note: Does not automatically update the inertia properties of the owning actor (if applicable); use the PhysX extensions method PxRigidBodyExt::updateMassAndInertia() to do this.

Default: the identity transform

Parameters

[in] pose The new transform from the actor frame to the shape frame. Range: rigid body transform

See also: getLocalPose()

◆ setMaterials()

virtual void PxShape::setMaterials	(	PxMaterial const	materials,
		PxU16	materialCount
	)

pure virtual

Assigns material(s) to the shape.

Sleeping: Does NOT wake the associated actor up automatically.

Parameters

[in]	materials	List of material pointers to assign to the shape. See PxMaterial
[in]	materialCount	The number of materials provided.

See also: PxPhysics.createMaterial() getMaterials()

◆ setMinTorsionalPatchRadius()

virtual void PxShape::setMinTorsionalPatchRadius ( PxReal radius )

pure virtual

Sets minimum torsional patch radius.

This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction that will be applied will be entirely dependent on the value of torsionalPatchRadius.

If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.

Default: 0.0

Parameters

[in] radius Range: (0, PX_MAX_F32)

◆ setName()

virtual void PxShape::setName ( const char * name )

pure virtual

Sets a name string for the object that can be retrieved with getName().

This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.

Default: NULL

Parameters

[in] name The name string to set the objects name to.

See also: getName()

◆ setQueryFilterData()

virtual void PxShape::setQueryFilterData ( const PxFilterData & data )

pure virtual

Sets the user definable query filter data.

Default: (0,0,0,0)

See also: getQueryFilterData()

◆ setRestOffset()

virtual void PxShape::setRestOffset ( PxReal restOffset )

pure virtual

Sets the rest offset.

Two shapes will come to rest at a distance equal to the sum of their restOffset values. If the restOffset is 0, they should converge to touching exactly. Having a restOffset greater than zero is useful to have objects slide smoothly, so that they do not get hung up on irregularities of each others' surfaces.

Default: 0.0f

Sleeping: Does NOT wake the associated actor up automatically.

Parameters

[in] restOffset Range: (-PX_MAX_F32, contactOffset)

See also: getRestOffset setContactOffset

◆ setSimulationFilterData()

virtual void PxShape::setSimulationFilterData ( const PxFilterData & data )

pure virtual

Sets the user definable collision filter data.

Sleeping: Does wake up the actor if the filter data change causes a formerly suppressed collision pair to be enabled.

Default: (0,0,0,0)

See also: getSimulationFilterData()

◆ setTorsionalPatchRadius()

virtual void PxShape::setTorsionalPatchRadius ( PxReal radius )

pure virtual

Sets torsional patch radius.

This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate rotational friction introduced by the compression of contacting surfaces.

Default: 0.0

Parameters

[in] radius Range: (0, PX_MAX_F32)

Member Data Documentation

◆ userData

void* PxShape::userData

user can assign this to whatever, usually to create a 1:1 relationship with a user object.

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

PxShape.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Visualizations

Constructor & Destructor Documentation

◆ PxShape() [1/2]

◆ PxShape() [2/2]

◆ ~PxShape()

Member Function Documentation

◆ acquireReference()

◆ getActor()

◆ getBoxGeometry()

◆ getCapsuleGeometry()

◆ getConcreteTypeName()

◆ getContactOffset()

◆ getConvexMeshGeometry()

◆ getFlags()

◆ getGeometry()

◆ getGeometryType()

◆ getHeightFieldGeometry()

◆ getLocalPose()

◆ getMaterialFromInternalFaceIndex()

◆ getMaterials()

◆ getMinTorsionalPatchRadius()

◆ getName()

◆ getNbMaterials()

◆ getPlaneGeometry()

◆ getQueryFilterData()

◆ getReferenceCount()

◆ getRestOffset()

◆ getSimulationFilterData()

◆ getSphereGeometry()

◆ getTorsionalPatchRadius()

◆ getTriangleMeshGeometry()

◆ isExclusive()

◆ isKindOf()

◆ release()

◆ setContactOffset()

◆ setFlag()

◆ setFlags()

◆ setGeometry()

◆ setLocalPose()

◆ setMaterials()

◆ setMinTorsionalPatchRadius()

◆ setName()

◆ setQueryFilterData()

◆ setRestOffset()

◆ setSimulationFilterData()

◆ setTorsionalPatchRadius()

Member Data Documentation

◆ userData