Immediatemode

Classes
struct	PxRigidBodyData
	Structure to store rigid body properties. More...
class	PxContactRecorder
	Callback class to record contact points produced by immediate::PxGenerateContacts. More...
struct	PxImmediateConstraint
struct	PxArticulationJointData
struct	PxFeatherstoneArticulationJointData
struct	PxFeatherstoneArticulationData
struct	PxMutableLinkData
struct	PxLinkData
struct	PxFeatherstoneArticulationLinkData

Functions
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV *	PxCreateFeatherstoneArticulation (const PxFeatherstoneArticulationData &data)
	Creates an immediate-mode reduced-coordinate articulation. More...
PX_C_EXPORT PX_PHYSX_CORE_API void	PxReleaseArticulation (Dy::ArticulationV *articulation)
	Releases an immediate-mode reduced-coordinate articulation. More...
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache *	PxCreateArticulationCache (Dy::ArticulationV *articulation)
	Creates an articulation cache. More...
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...
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...
PX_C_EXPORT PX_PHYSX_CORE_API void	PxReleaseArticulationCache (PxArticulationCache &cache)
	Release an articulation cache. More...
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...
PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV *	PxGetLinkArticulation (const Dy::ArticulationLinkHandle link)
	Retrieves owner/parent articulation handle from a link handle. More...
PX_C_EXPORT PX_PHYSX_CORE_API PxU32	PxGetLinkIndex (const Dy::ArticulationLinkHandle link)
	Retrieves link index from a link handle. More...
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...
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...
PX_C_EXPORT PX_PHYSX_CORE_API bool	PxGetMutableLinkData (const Dy::ArticulationLinkHandle link, PxMutableLinkData &data)
	Retrieves mutable link data from a link handle. More...
PX_C_EXPORT PX_PHYSX_CORE_API bool	PxSetMutableLinkData (Dy::ArticulationLinkHandle link, const PxMutableLinkData &data)
	Sets mutable link data for given link. More...
PX_C_EXPORT PX_PHYSX_CORE_API bool	PxGetJointData (const Dy::ArticulationLinkHandle link, PxFeatherstoneArticulationJointData &data)
	Retrieves joint data from a link handle. More...
PX_C_EXPORT PX_PHYSX_CORE_API bool	PxSetJointData (Dy::ArticulationLinkHandle link, const PxFeatherstoneArticulationJointData &data)
	Sets joint data for given link. More...
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...
PX_C_EXPORT PX_PHYSX_CORE_API void	PxUpdateArticulationBodies (Dy::ArticulationV *articulation, const PxReal dt)
	Updates bodies for a given articulation. More...
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...
PX_C_EXPORT PX_PHYSX_CORE_API void	PxUpdateArticulationBodiesTGS (Dy::ArticulationV *articulation, const PxReal dt)
	Updates bodies for a given articulation. More...
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...
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...
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...
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...
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...
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...
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...
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...
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...

Detailed Description

Function Documentation

PxAddArticulationLink()

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.

Parameters

[in]	articulation	Articulation handle
[in]	data	Link data
[in]	isLastLink	Hint to tell the system whether the added link is the last one or not. This is a minor optimization, it is also ok to always use either true or false here.

Returns

Articulation link handle

PxApplyArticulationCache()

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.

Parameters

[in]	articulation	articulation handle.
[in]	cache	Articulation data.
[in]	flag	Defines which values in the cache will be applied to the articulation

See also

createCache PxCopyInternalStateToArticulationCache

PxBatchConstraints()

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.

Parameters

[in]	solverConstraintDescs	The set of solver constraint descs to batch
[in]	nbConstraints	The number of constraints to batch
[in,out]	solverBodies	The array of solver bodies that the constraints reference. Some fields in these structures are written to as scratch memory for the batching.
[in]	nbBodies	The number of bodies
[out]	outBatchHeaders	The batch headers produced by this batching process. This array must have at least 1 entry per input constraint
[out]	outOrderedConstraintDescs	A reordered copy of the constraint descs. This array is referenced by the constraint batches. This array must have at least 1 entry per input constraint.
[in,out]	articulations	The array of articulations that the constraints reference. Some fields in these structures are written to as scratch memory for the batching.
[in]	nbArticulations	The number of articulations

Returns

The total number of batches produced. This should be less than or equal to nbConstraints.

Note

This method considers all bodies within the range [0, nbBodies-1] to be valid dynamic bodies. A given dynamic body can only be referenced in a batch once. Static or kinematic bodies can be referenced multiple times within a batch safely because constraints do not affect their velocities. The batching will implicitly consider any bodies outside of the range [0, nbBodies-1] to be infinite mass (static or kinematic). This means that either appending static/kinematic to the end of the array of bodies or placing static/kinematic bodies at before the start body pointer will ensure that the minimum number of batches are produced.

PxBatchConstraintsTGS()

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.

Parameters

[in]	solverConstraintDescs	The set of solver constraint descs to batch
[in]	nbConstraints	The number of constraints to batch
[in,out]	solverBodies	The array of solver bodies that the constraints reference. Some fields in these structures are written to as scratch memory for the batching.
[in]	nbBodies	The number of bodies
[out]	outBatchHeaders	The batch headers produced by this batching process. This array must have at least 1 entry per input constraint
[out]	outOrderedConstraintDescs	A reordered copy of the constraint descs. This array is referenced by the constraint batches. This array must have at least 1 entry per input constraint.
[in,out]	articulations	The array of articulations that the constraints reference. Some fields in these structures are written to as scratch memory for the batching.
[in]	nbArticulations	The number of articulations

Returns

The total number of batches produced. This should be less than or equal to nbConstraints.

Note

This method considers all bodies within the range [0, nbBodies-1] to be valid dynamic bodies. A given dynamic body can only be referenced in a batch once. Static or kinematic bodies can be referenced multiple times within a batch safely because constraints do not affect their velocities. The batching will implicitly consider any bodies outside of the range [0, nbBodies-1] to be infinite mass (static or kinematic). This means that either appending static/kinematic to the end of the array of bodies or placing static/kinematic bodies at before the start body pointer will ensure that the minimum number of batches are produced.

PxComputeUnconstrainedVelocities()

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.

Parameters

[in]	articulation	Articulation handle
[in]	gravity	Gravity vector
[in]	dt	Timestep

PxComputeUnconstrainedVelocitiesTGS()

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.

Parameters

[in]	articulation	Articulation handle
[in]	gravity	Gravity vector
[in]	dt	Timestep/numPosIterations
[in]	totalDt	Timestep
[in]	invDt	1/(Timestep/numPosIterations)
[in]	invTotalDt	1/Timestep

PxConstructSolverBodies()

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.

Parameters

[in]	inRigidData	The array rigid body properties
[out]	outSolverBodyData	The array of solverBodyData produced to repreent these bodies
[in]	nbBodies	The total number of solver bodies to create
[in]	gravity	The gravity vector
[in]	dt	The timestep

PxConstructSolverBodiesTGS()

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.

Parameters

[in]	inRigidData	The array rigid body properties
[out]	outSolverBodyVel	The array of PxTGSSolverBodyVel structures produced to represent these bodies
[out]	outSolverBodyTxInertia	The array of PxTGSSolverBodyTxInertia produced to represent these bodies
[out]	outSolverBodyData	The array of PxTGSolverBodyData produced to repreent these bodies
[in]	nbBodies	The total number of solver bodies to create
[in]	gravity	The gravity vector
[in]	dt	The timestep

PxConstructStaticSolverBody()

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.

Parameters

[in]	globalPose	The pose of this static actor
[out]	solverBodyData	The solver body representation of this static actor

PxConstructStaticSolverBodyTGS()

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.

Parameters

[in]	globalPose	The pose of this static actor
[out]	solverBodyVel	The velocity component of this body (will be zero)
[out]	solverBodyTxInertia	The intertia and transform delta component of this body (will be zero)
[out]	solverBodyData	The solver body representation of this static actor

PxCopyInternalStateToArticulationCache()

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.

Parameters

[in]	articulation	articulation handle.
[in]	cache	Articulation data
[in]	flag	Indicates which values of the articulation system are copied to the cache

See also

createCache PxApplyArticulationCache

PxCreateArticulationCache()

PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache* PxCreateArticulationCache

(

Dy::ArticulationV *

articulation

)

Creates an articulation cache.

Parameters

[in]

articulation

Articulation handle

Returns

Articulation cache

See also

PxReleaseArticulationCache

PxCreateContactConstraints()

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.

Parameters

[in]	batchHeaders	Array of batch headers to process
[in]	nbHeaders	The total number of headers
[in]	contactDescs	An array of contact descs defining the pair and contact properties of each respective contacting pair
[in]	allocator	An allocator callback to allocate constraint and friction memory
[in]	invDt	The inverse timestep
[in]	bounceThreshold	The bounce threshold. Relative velocities below this will be solved by bias only. Relative velocities above this will be solved by restitution. If restitution is zero then these pairs will always be solved by bias.
[in]	frictionOffsetThreshold	The friction offset threshold. Contacts whose separations are below this threshold can generate friction constraints.
[in]	correlationDistance	The correlation distance used by friction correlation to identify whether a friction patch is broken on the grounds of relation separation.

Returns

a boolean to define if this method was successful or not.

PxCreateContactConstraintsTGS()

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.

Parameters

[in]	batchHeaders	Array of batch headers to process
[in]	nbHeaders	The total number of headers
[in]	contactDescs	An array of contact descs defining the pair and contact properties of each respective contacting pair
[in]	allocator	An allocator callback to allocate constraint and friction memory
[in]	invDt	The inverse timestep/nbPositionIterations
[in]	invTotalDt	The inverse time-step
[in]	bounceThreshold	The bounce threshold. Relative velocities below this will be solved by bias only. Relative velocities above this will be solved by restitution. If restitution is zero then these pairs will always be solved by bias.
[in]	frictionOffsetThreshold	The friction offset threshold. Contacts whose separations are below this threshold can generate friction constraints.
[in]	correlationDistance	The correlation distance used by friction correlation to identify whether a friction patch is broken on the grounds of relation separation.

Returns

a boolean to define if this method was successful or not.

PxCreateFeatherstoneArticulation()

PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV* PxCreateFeatherstoneArticulation

(

const PxFeatherstoneArticulationData &

data

)

Creates an immediate-mode reduced-coordinate articulation.

Parameters

[in]

data

Articulation data

Returns

Articulation handle

See also

PxReleaseArticulation

PxCreateJointConstraints()

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.

Parameters

[in]	batchHeaders	The array of batch headers to be processed
[in]	nbHeaders	The total number of batch headers to process
[in]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The timestep
[in]	invDt	The inverse timestep

Returns

a boolean indicating if this method was successful or not.

PxCreateJointConstraintsTGS()

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.

Parameters

[in]	batchHeaders	The array of batch headers to be processed
[in]	nbHeaders	The total number of batch headers to process
[in]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The total time-step/nbPositionIterations
[in]	totalDt	The total time-step
[in]	invDt	The inverse (timestep/nbPositionIterations)
[in]	invTotalDt	The inverse total time-step
[in]	lengthScale	PxToleranceScale::length, i.e. a meter in simulation units

Returns

a boolean indicating if this method was successful or not.

PxCreateJointConstraintsWithImmediateShaders()

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.

Parameters

[in]	batchHeaders	The set of batchHeaders to be processed
[in]	nbBatchHeaders	The number of batch headers to process.
[in]	constraints	The set of constraints to be used to produce constraint rows
[in,out]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The timestep
[in]	invDt	The inverse timestep

Returns

a boolean indicating if this method was successful or not.

See also

PxCreateJointConstraints

PxCreateJointConstraintsWithImmediateShadersTGS()

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.

Parameters

[in]	batchHeaders	The set of batchHeaders to be processed
[in]	nbBatchHeaders	The number of batch headers to process.
[in]	constraints	The set of constraints to be used to produce constraint rows
[in,out]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The total time-step/nbPositionIterations
[in]	totalDt	The total time-step
[in]	invDt	The inverse (timestep/nbPositionIterations)
[in]	invTotalDt	The inverse total time-step
[in]	lengthScale	PxToleranceScale::length, i.e. a meter in simulation units

Returns

a boolean indicating if this method was successful or not.

See also

PxCreateJointConstraints

PxCreateJointConstraintsWithShaders()

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.

Parameters

[in]	batchHeaders	The set of batchHeaders to be processed
[in]	nbBatchHeaders	The number of batch headers to process.
[in]	constraints	The set of constraints to be used to produce constraint rows
[in,out]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The timestep
[in]	invDt	The inverse timestep

Returns

a boolean indicating if this method was successful or not.

See also

PxCreateJointConstraints

PxCreateJointConstraintsWithShadersTGS()

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.

Parameters

[in]	batchHeaders	The set of batchHeaders to be processed
[in]	nbBatchHeaders	The number of batch headers to process.
[in]	constraints	The set of constraints to be used to produce constraint rows
[in,out]	jointDescs	An array of constraint prep descs defining the properties of the constraints being created
[in]	allocator	An allocator callback to allocate constraint data
[in]	dt	The total time-step/nbPositionIterations
[in]	totalDt	The total time-step
[in]	invDt	The inverse (timestep/nbPositionIterations)
[in]	invTotalDt	The inverse total time-step
[in]	lengthScale	PxToleranceScale::length, i.e. a meter in simulation units

Returns

a boolean indicating if this method was successful or not.

See also

PxCreateJointConstraints

PxGenerateContacts()

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.

Parameters

[in]	geom0	Array of geometries to perform collision detection on.
[in]	geom1	Array of geometries to perform collision detection on
[in]	pose0	Array of poses associated with the corresponding entry in the geom0 array
[in]	pose1	Array of poses associated with the corresponding entry in the geom1 array
[in,out]	contactCache	Array of contact caches associated with each pair geom0[i] + geom1[i]
[in]	nbPairs	The total number of pairs to process
[in]	contactRecorder	A callback that is called to record contacts for each pair that detects contacts
[in]	contactDistance	The distance at which contacts begin to be generated between the pairs
[in]	meshContactMargin	The mesh contact margin.
[in]	toleranceLength	The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
[in]	allocator	A callback to allocate memory for the contact cache

Returns

a boolean indicating if the function was successful or not.

PxGetAllLinkData()

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.

Parameters

[in]	articulation	Articulation handle
[out]	data	Link data for N links, or NULL to just retrieve the number of links.

Returns

Number of links in the articulation = number of link data structure written to the data array.

See also

PxGetLinkData

PxGetJointData()

PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetJointData	(	const Dy::ArticulationLinkHandle	link,
		PxFeatherstoneArticulationJointData &	data
	)

Retrieves joint data from a link handle.

Parameters

[in]	link	Link handle
[out]	data	Joint data for this link

Returns

True if success

See also

PxSetJointData

PxGetLinkArticulation()

PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV* PxGetLinkArticulation

(

const Dy::ArticulationLinkHandle

link

)

Retrieves owner/parent articulation handle from a link handle.

Parameters

[in]

link

Link handle

Returns

Articulation handle

PxGetLinkData()

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.

Parameters

[in]	link	Link handle
[out]	data	Link data

Returns

True if success

See also

PxGetAllLinkData

PxGetLinkIndex()

PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetLinkIndex

(

const Dy::ArticulationLinkHandle

link

)

Retrieves link index from a link handle.

Parameters

[in]

link

Link handle

Returns

Link index

PxGetMutableLinkData()

PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetMutableLinkData	(	const Dy::ArticulationLinkHandle	link,
		PxMutableLinkData &	data
	)

Retrieves mutable link data from a link handle.

Parameters

[in]	link	Link handle
[out]	data	Data for this link

Returns

True if success

See also

PxSetMutableLinkData

PxIntegrateSolverBodies()

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.

Parameters

[in,out]	solverBodyData	The array of solver body data to be integrated
[in]	solverBody	The bodies' linear and angular velocities
[in]	linearMotionVelocity	The bodies' linear motion velocity array
[in]	angularMotionState	The bodies' angular motion velocity array
[in]	nbBodiesToIntegrate	The total number of bodies to integrate
[in]	dt	The timestep

PxIntegrateSolverBodiesTGS()

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.

Parameters

[in,out]	solverBody	The array of solver bodies to be integrated
[in]	txInertia	The delta pose and inertia terms
[in,out]	poses	The original poses of the bodies. Updated to be the new poses of the bodies
[in]	nbBodiesToIntegrate	The total number of bodies to integrate
[in]	dt	The timestep

PxRegisterImmediateArticulations()

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.

See also

PxRegisterArticulationsReducedCoordinate

PxReleaseArticulation()

PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulation

(

Dy::ArticulationV *

articulation

)

Releases an immediate-mode reduced-coordinate articulation.

Parameters

[in]

articulation

Articulation handle

See also

PxCreateFeatherstoneArticulation

PxReleaseArticulationCache()

PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulationCache

(

PxArticulationCache &

cache

)

Release an articulation cache.

Parameters

[in]

cache

The cache to release

See also

PxCreateArticulationCache PxCopyInternalStateToArticulationCache PxCopyInternalStateToArticulationCache

PxSetJointData()

PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetJointData	(	Dy::ArticulationLinkHandle	link,
		const PxFeatherstoneArticulationJointData &	data
	)

Sets joint data for given link.

Parameters

[in]	link	Link handle
[in]	data	Joint data for this link

Returns

True if success

See also

PxGetJointData

PxSetMutableLinkData()

PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetMutableLinkData	(	Dy::ArticulationLinkHandle	link,
		const PxMutableLinkData &	data
	)

Sets mutable link data for given link.

Parameters

[in]	link	Link handle
[in]	data	Data for this link

Returns

True if success

See also

PxGetMutableLinkData

PxSolveConstraints()

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.

Parameters

[in]	batchHeaders	The set of batch headers to be solved
[in]	nbBatchHeaders	The total number of batch headers to be solved
[in]	solverConstraintDescs	The reordererd set of solver constraint descs referenced by the batch headers
[in,out]	solverBodies	The set of solver bodies the bodies reference
[out]	linearMotionVelocity	The resulting linear motion velocity
[out]	angularMotionVelocity	The resulting angular motion velocity.
[in]	nbSolverBodies	The total number of solver bodies
[in]	nbPositionIterations	The number of position iterations to run
[in]	nbVelocityIterations	The number of velocity iterations to run
[in]	dt	Timestep. Only needed if articulations are sent to the function.
[in]	invDt	Inverse timestep. Only needed if articulations are sent to the function.
[in]	nbSolverArticulations	Number of articulations to solve constraints for.
[in]	solverArticulations	Array of articulations to solve constraints for.

PxSolveConstraintsTGS()

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.

Parameters

[in]	batchHeaders	The set of batch headers to be solved
[in]	nbBatchHeaders	The total number of batch headers to be solved
[in]	solverConstraintDescs	The reordererd set of solver constraint descs referenced by the batch headers
[in,out]	solverBodies	The set of solver bodies the bodies reference
[in,out]	txInertias	The set of solver body TxInertias the bodies reference
[in]	nbSolverBodies	The total number of solver bodies
[in]	nbPositionIterations	The number of position iterations to run
[in]	nbVelocityIterations	The number of velocity iterations to run
[in]	dt	time-step/nbPositionIterations
[in]	invDt	1/(time-step/nbPositionIterations)
[in]	nbSolverArticulations	Number of articulations to solve constraints for.
[in]	solverArticulations	Array of articulations to solve constraints for.

PxUpdateArticulationBodies()

PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodies	(	Dy::ArticulationV *	articulation,
		const PxReal	dt
	)

Updates bodies for a given articulation.

Parameters

[in]	articulation	Articulation handle
[in]	dt	Timestep

PxUpdateArticulationBodiesTGS()

PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodiesTGS	(	Dy::ArticulationV *	articulation,
		const PxReal	dt
	)

Updates bodies for a given articulation.

Parameters

[in]	articulation	Articulation handle
[in]	dt	Timestep