Extensions

Classes
class	PxSerializer
	Serialization interface class. More...
class	PxSerializerDefaultAdapter< T >
	Default PxSerializer implementation. More...
struct	PxConverterReportMode
class	PxBinaryConverter
	Binary converter for serialized streams. More...
class	PxBroadPhaseExt
class	PxClothFabricCooker
class	PxCollectionExt
struct	PxConstraintExtIDs
	Unique identifiers for extensions classes which implement a constraint based on PxConstraint. More...
struct	PxD6Axis
	Used to specify one of the degrees of freedom of a D6 joint. More...
struct	PxD6Motion
	Used to specify the range of motions allowed for a degree of freedom in a D6 joint. More...
struct	PxD6Drive
	Used to specify which axes of a D6 joint are driven. More...
struct	PxD6JointDriveFlag
	flags for configuring the drive model of a PxD6Joint More...
class	PxD6JointDrive
	parameters for configuring the drive model of a PxD6Joint More...
class	PxD6Joint
	A D6 joint is a general constraint between two actors. More...
class	PxDefaultAllocator
	default implementation of the allocator interface required by the SDK More...
class	PxDefaultCpuDispatcher
	A default implementation for a CPU task dispatcher. More...
class	PxGroupsMask
	64-bit mask used for collision filtering. More...
struct	PxFilterOp
	Collision filtering operations. More...
class	PxDefaultMemoryOutputStream
	default implementation of a memory write stream More...
class	PxDefaultMemoryInputData
	default implementation of a memory read stream More...
class	PxDefaultFileOutputStream
	default implementation of a file write stream More...
class	PxDefaultFileInputData
	default implementation of a file read stream More...
struct	PxDistanceJointFlag
	flags for configuring the drive of a PxDistanceJoint More...
class	PxDistanceJoint
	a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects More...
class	PxFixedJoint
	A fixed joint permits no relative movement between two bodies. ie the bodies are glued together. More...
struct	PxJointConcreteType
	an enumeration of PhysX' built-in joint types More...
struct	PxJointActorIndex
	an enumeration for specifying one or other of the actors referenced by a joint More...
class	PxJoint
	a base interface providing common functionality for PhysX joints More...
class	PxSpring
class	PxJointLimitParameters
	Describes the parameters for a joint limit. More...
class	PxJointLinearLimit
	Describes a one-sided linear limit. More...
class	PxJointLinearLimitPair
	Describes a two-sided limit. More...
class	PxJointAngularLimitPair
class	PxJointLimitCone
	Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may result in jitter. More...
class	PxMassProperties
	Utility class to compute and manipulate mass and inertia tensor properties. More...
class	PxParticleExt
	extensions for the partice feature (deprecated) More...
struct	PxPrismaticJointFlag
	Flags specific to the prismatic joint. More...
class	PxPrismaticJoint
	A prismatic joint permits relative translational movement between two bodies along an axis, but no relative rotational movement. More...
class	RaycastCCDManager
	Raycast-CCD manager. More...
struct	PxRepXObject
	Helper class containing the mapping of id to object, and type name. More...
struct	PxRepXInstantiationArgs
	Arguments required to instantiate a serializable object from RepX. More...
struct	PxRevoluteJointFlag
	Flags specific to the Revolute Joint. More...
class	PxRevoluteJoint
	A joint which behaves in a similar way to a hinge or axle. More...
class	PxRigidActorExt
	utility functions for use with PxRigidActor and subclasses More...
class	PxRigidBodyExt
	utility functions for use with PxRigidBody and subclasses More...
class	PxSceneQueryExt
	utility functions for use with PxScene, related to scene queries. More...
class	PxSerialization
	Utility functions for serialization. More...
class	PxShapeExt
	utility functions for use with PxShape More...
struct	PxSphericalJointFlag
	Flags specific to the spherical joint. More...
class	PxSphericalJoint
	A joint which behaves in a similar way to a ball and socket. More...
class	PxMeshOverlapUtil
	Utility class to find mesh triangles touched by a specified geometry object. More...
Defines
#define	PX_NEW_SERIALIZER_ADAPTER(x)
	Preprocessor Macro to simplify adapter creation.
#define	PX_DELETE_SERIALIZER_ADAPTER(x)   { PxSerializer* s = x; if (s) { s->~PxSerializer(); PxGetFoundation().getAllocatorCallback().deallocate(s); } }
	Preprocessor Macro to simplify adapter deletion.
#define	PX_BINARY_SERIAL_VERSION   0
Typedefs
typedef PxFlags < PxD6JointDriveFlag::Enum, PxU32 >	PxD6JointDriveFlags
typedef FILE *	PxFileHandle
typedef PxFlags < PxDistanceJointFlag::Enum, PxU16 >	PxDistanceJointFlags
typedef PxFlags < PxPrismaticJointFlag::Enum, PxU16 >	PxPrismaticJointFlags
typedef PxFlags < PxRevoluteJointFlag::Enum, PxU16 >	PxRevoluteJointFlags
typedef PxQueryHit	PxSceneQueryHit
typedef PxQueryFilterData	PxSceneQueryFilterData
typedef PxQueryFilterCallback	PxSceneQueryFilterCallback
typedef PxQueryCache	PxSceneQueryCache
typedef PxHitFlag	PxSceneQueryFlag
typedef PxHitFlags	PxSceneQueryFlags
typedef PxFlags < PxSphericalJointFlag::Enum, PxU16 >	PxSphericalJointFlags
Functions
PxClothFabric *	PxClothFabricCreate (PxPhysics &physics, const PxClothMeshDesc &desc, const PxVec3 &gravity, bool useGeodesicTether=true)
	Cooks a triangle mesh to a PxClothFabric.
PxU32	PxFindFaceIndex (const PxConvexMeshGeometry &convexGeom, const PxTransform &geomPose, const PxVec3 &impactPos, const PxVec3 &unitDir)
	Computes closest polygon of the convex hull geometry for a given impact point and impact direction. When doing sweeps against a scene, one might want to delay the rather expensive computation of the hit face index for convexes until it is clear the information is really needed and then use this method to get the corresponding face index.
PxD6Joint *	PxD6JointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a D6 joint.
PX_FORCE_INLINE void *	platformAlignedAlloc (size_t size)
PX_FORCE_INLINE void	platformAlignedFree (void *ptr)
PxDefaultCpuDispatcher *	PxDefaultCpuDispatcherCreate (PxU32 numThreads, PxU32 *affinityMasks=NULL)
	Create default dispatcher, extensions SDK needs to be initialized first.
PxFilterFlags	PxDefaultSimulationFilterShader (PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags &pairFlags, const void *constantBlock, PxU32 constantBlockSize)
	Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.
bool	PxGetGroupCollisionFlag (const PxU16 group1, const PxU16 group2)
	Determines if collision detection is performed between a pair of groups.
void	PxSetGroupCollisionFlag (const PxU16 group1, const PxU16 group2, const bool enable)
	Specifies if collision should be performed by a pair of groups.
PxU16	PxGetGroup (const PxActor &actor)
	Retrieves the value set with PxSetGroup().
void	PxSetGroup (PxActor &actor, const PxU16 collisionGroup)
	Sets which collision group this actor is part of.
void	PxGetFilterOps (PxFilterOp::Enum &op0, PxFilterOp::Enum &op1, PxFilterOp::Enum &op2)
	Retrieves filtering operation. See comments for PxGroupsMask.
void	PxSetFilterOps (const PxFilterOp::Enum &op0, const PxFilterOp::Enum &op1, const PxFilterOp::Enum &op2)
	Setups filtering operations. See comments for PxGroupsMask.
bool	PxGetFilterBool ()
	Retrieves filtering's boolean value. See comments for PxGroupsMask.
void	PxSetFilterBool (const bool enable)
	Setups filtering's boolean value. See comments for PxGroupsMask.
void	PxGetFilterConstants (PxGroupsMask &c0, PxGroupsMask &c1)
	Gets filtering constant K0 and K1. See comments for PxGroupsMask.
void	PxSetFilterConstants (const PxGroupsMask &c0, const PxGroupsMask &c1)
	Setups filtering's K0 and K1 value. See comments for PxGroupsMask.
PxGroupsMask	PxGetGroupsMask (const PxActor &actor)
	Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
void	PxSetGroupsMask (PxActor &actor, const PxGroupsMask &mask)
	Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
PxDistanceJoint *	PxDistanceJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a distance Joint.
PX_C_EXPORT bool PX_CALL_CONV	PxInitExtensions (physx::PxPhysics &physics, physx::PxPvd *pvd)
	Initialize the PhysXExtensions library.
PX_C_EXPORT void PX_CALL_CONV	PxCloseExtensions ()
	Shut down the PhysXExtensions library.
PxFixedJoint *	PxFixedJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a fixed joint.
PX_C_EXPORT void PX_CALL_CONV	PxSetJointGlobalFrame (physx::PxJoint &joint, const physx::PxVec3 *wsAnchor, const physx::PxVec3 *wsAxis)
	Helper function to setup a joint's global frame.
PxPrismaticJoint *	PxPrismaticJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a prismatic joint.
PxRevoluteJoint *	PxRevoluteJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a revolute joint.
PxRigidDynamic *	PxCreateDynamic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateDynamic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)
	simple method to create a PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateKinematic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateKinematic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)
	simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
PxRigidStatic *	PxCreateStatic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a PxRigidStatic actor with a single PxShape.
PxRigidStatic *	PxCreateStatic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape)
	simple method to create a PxRigidStatic actor with a single PxShape.
PxShape *	PxCloneShape (PxPhysics &physicsSDK, const PxShape &shape, bool isExclusive)
	create a shape by copying attributes from another shape
PxRigidStatic *	PxCloneStatic (PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidActor &actor)
	create a static body by copying attributes from another rigid actor
PxRigidDynamic *	PxCloneDynamic (PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidDynamic &body)
	create a dynamic body by copying attributes from an existing body
PxRigidStatic *	PxCreatePlane (PxPhysics &sdk, const PxPlane &plane, PxMaterial &material)
	create a plane actor. The plane equation is n.x + d = 0
void	PxScaleRigidActor (PxRigidActor &actor, PxReal scale, bool scaleMassProps=true)
	scale a rigid actor by a uniform scale
PX_C_EXPORT bool PX_CALL_CONV	PxBuildSmoothNormals (physx::PxU32 nbTris, physx::PxU32 nbVerts, const physx::PxVec3 *verts, const physx::PxU32 *dFaces, const physx::PxU16 *wFaces, physx::PxVec3 *normals, bool flip)
	Builds smooth vertex normals over a mesh.
PxSphericalJoint *	PxSphericalJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a spherical joint.
PX_DEPRECATED PxVec3	PxComputeMeshPenetration (PxU32 maxIter, const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 &nb)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
bool	PxComputeTriangleMeshPenetration (PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 maxIter, PxU32 *usedIter=NULL)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
PX_DEPRECATED PxVec3	PxComputeHeightFieldPenetration (PxU32 maxIter, const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &heightFieldGeom, const PxTransform &heightFieldPose, PxU32 &nb)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
bool	PxComputeHeightFieldPenetration (PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &heightFieldGeom, const PxTransform &heightFieldPose, PxU32 maxIter, PxU32 *usedIter=NULL)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.

---

Define Documentation

#define PX_BINARY_SERIAL_VERSION   0

PX_BINARY_SERIAL_VERSION is used to specify the binary data format compatibility additionally to the physics sdk version. The binary format version is defined as "PX_PHYSICS_VERSION_MAJOR.PX_PHYSICS_VERSION_MINOR.PX_PHYSICS_VERSION_BUGFIX-PX_BINARY_SERIAL_VERSION". The following binary format versions are compatible with the current physics version: (no compatible versions)

The PX_BINARY_SERIAL_VERSION for a given PhysX release is typically 0. If incompatible modifications are made to a customer specific branch the number should be increased.

#define PX_DELETE_SERIALIZER_ADAPTER

(

x

)

{ PxSerializer* s = x; if (s) { s->~PxSerializer(); PxGetFoundation().getAllocatorCallback().deallocate(s); } }

Preprocessor Macro to simplify adapter deletion.

#define PX_NEW_SERIALIZER_ADAPTER

(

x

)

Value:

*new( PxGetFoundation().getAllocatorCallback().allocate(sizeof(PxSerializerDefaultAdapter<x>), \
    "PxSerializerDefaultAdapter",  __FILE__, __LINE__ )) PxSerializerDefaultAdapter<x>(#x)

Preprocessor Macro to simplify adapter creation.

Note: that the allocator used for creation needs to match with the one used in PX_DELETE_SERIALIZER_ADAPTER.

---

Typedef Documentation

typedef PxFlags<PxD6JointDriveFlag::Enum, PxU32> PxD6JointDriveFlags

typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags

typedef FILE* PxFileHandle

typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags

typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags

typedef PxQueryCache PxSceneQueryCache

typedef PxQueryFilterCallback PxSceneQueryFilterCallback

typedef PxQueryFilterData PxSceneQueryFilterData

typedef PxHitFlag PxSceneQueryFlag

typedef PxHitFlags PxSceneQueryFlags

typedef PxQueryHit PxSceneQueryHit

typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags

---

Function Documentation

PX_FORCE_INLINE void* platformAlignedAlloc

(

size_t

size

)

Referenced by PxDefaultAllocator::allocate().

PX_FORCE_INLINE void platformAlignedFree

(

void *

ptr

)

Referenced by PxDefaultAllocator::deallocate().

PX_C_EXPORT bool PX_CALL_CONV PxBuildSmoothNormals	(	physx::PxU32	nbTris,
		physx::PxU32	nbVerts,
		const physx::PxVec3 *	verts,
		const physx::PxU32 *	dFaces,
		const physx::PxU16 *	wFaces,
		physx::PxVec3 *	normals,
		bool	flip
	)

Builds smooth vertex normals over a mesh.

• "smooth" because smoothing groups are not supported here
• takes angles into account for correct cube normals computation

To use 32bit indices pass a pointer in dFaces and set wFaces to zero. Alternatively pass a pointer to wFaces and set dFaces to zero.

Parameters:

[in]	nbTris	Number of triangles
[in]	nbVerts	Number of vertices
[in]	verts	Array of vertices
[in]	dFaces	Array of dword triangle indices, or null
[in]	wFaces	Array of word triangle indices, or null
[out]	normals	Array of computed normals (assumes nbVerts vectors)
[in]	flip	Flips the normals or not

Returns:

True on success.

PxRigidDynamic* PxCloneDynamic	(	PxPhysics &	physicsSDK,
		const PxTransform &	transform,
		const PxRigidDynamic &	body
	)

create a dynamic body by copying attributes from an existing body

The following properties are copied:

• shapes
• actor flags and rigidDynamic flags
• mass, moment of inertia, and center of mass frame
• linear and angular velocity
• linear and angular damping
• maximum angular velocity
• position and velocity solver iterations
• maximum depenetration velocity
• sleep threshold
• contact report threshold
• dominance group
• owner client and client behavior bits
• name pointer

The following are not copied and retain their default values:

• name
• joints or observers
• aggregate or scene membership
• sleep timer
• user data

Note:

Transforms are not copied with bit-exact accuracy.

Parameters:

[in]	physicsSDK	PxPhysics - the physics SDK used to allocate the rigid static
[in]	body	the rigid dynamic to clone.
[in]	transform	the transform of the new dynamic

Returns:

the newly-created rigid static

PxShape* PxCloneShape	(	PxPhysics &	physicsSDK,
		const PxShape &	shape,
		bool	isExclusive
	)

create a shape by copying attributes from another shape

The function clones a PxShape. The following properties are copied:

• geometry
• flags
• materials
• actor-local pose
• contact offset
• rest offset
• simulation filter data
• query filter data

The following are not copied and retain their default values:

• name
• user data

Parameters:

[in]	physicsSDK	- the physics SDK used to allocate the shape
[in]	shape	the shape from which to take the attributes.
[in]	isExclusive	whether the new shape should be an exclusive or shared shape.

Returns:

the newly-created rigid static

PxRigidStatic* PxCloneStatic	(	PxPhysics &	physicsSDK,
		const PxTransform &	transform,
		const PxRigidActor &	actor
	)

create a static body by copying attributes from another rigid actor

The function clones a PxRigidDynamic or PxRigidStatic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:

• shapes
• actor flags
• owner client and client behavior bits

The following are not copied and retain their default values:

• name
• joints or observers
• aggregate or scene membership
• user data

Note:

Transforms are not copied with bit-exact accuracy.

Parameters:

[in]	physicsSDK	- the physics SDK used to allocate the rigid static
[in]	actor	the rigid actor from which to take the attributes.
[in]	transform	the transform of the new static.

Returns:

the newly-created rigid static

PX_C_EXPORT void PX_CALL_CONV PxCloseExtensions

(

)

Shut down the PhysXExtensions library.

This function should be called to cleanly shut down the PhysXExtensions library before application exit.

Note:

This function is required to be called to release foundation usage.

See also:

PxInitExtensions

PxClothFabric* PxClothFabricCreate	(	PxPhysics &	physics,
		const PxClothMeshDesc &	desc,
		const PxVec3 &	gravity,
		bool	useGeodesicTether = true
	)

Cooks a triangle mesh to a PxClothFabric.

Parameters:

	physics	The physics instance.
	desc	The cloth mesh descriptor on which the generation of the cooked mesh depends.
	gravity	A normalized vector which specifies the direction of gravity. This information allows the cooker to generate a fabric with higher quality simulation behavior.
	useGeodesicTether	A flag to indicate whether to compute geodesic distance for tether constraints.

Returns:

The created cloth fabric, or NULL if creation failed.

bool PxComputeHeightFieldPenetration	(	PxVec3 &	direction,
		PxReal &	depth,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxHeightFieldGeometry &	heightFieldGeom,
		const PxTransform &	heightFieldPose,
		PxU32	maxIter,
		PxU32 *	usedIter = NULL
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters:

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or zero.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	heightFieldGeom	The heightfield geometry
[in]	heightFieldPose	Pose for the heightfield
[in]	maxIter	Max number of iterations before returning.
[out]	usedIter	Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns:

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also:

PxGeometry PxTransform PxHeightFieldGeometry

PX_DEPRECATED PxVec3 PxComputeHeightFieldPenetration	(	PxU32	maxIter,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxHeightFieldGeometry &	heightFieldGeom,
		const PxTransform &	heightFieldPose,
		PxU32 &	nb
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters:

[in]	maxIter	Max number of iterations before returning.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	heightFieldGeom	The heightfield geometry
[in]	heightFieldPose	Pose for the heightfield
[out]	nb	Number of depenetrations attempts performed during the call. 0 means no overlap has been detected.

Returns:

Approximate depenetration vector

See also:

PxGeometry PxTransform PxHeightFieldGeometry

PX_DEPRECATED PxVec3 PxComputeMeshPenetration	(	PxU32	maxIter,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxTriangleMeshGeometry &	meshGeom,
		const PxTransform &	meshPose,
		PxU32 &	nb
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters:

[in]	maxIter	Max number of iterations before returning.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	meshGeom	The mesh geometry
[in]	meshPose	Pose for the mesh
[out]	nb	Number of depenetrations attempts performed during the call. 0 means no overlap has been detected.

Returns:

Approximate depenetration vector

See also:

PxGeometry PxTransform PxTriangleMeshGeometry

bool PxComputeTriangleMeshPenetration	(	PxVec3 &	direction,
		PxReal &	depth,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxTriangleMeshGeometry &	meshGeom,
		const PxTransform &	meshPose,
		PxU32	maxIter,
		PxU32 *	usedIter = NULL
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters:

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or zero.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	meshGeom	The mesh geometry
[in]	meshPose	Pose for the mesh
[in]	maxIter	Max number of iterations before returning.
[out]	usedIter	Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns:

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also:

PxGeometry PxTransform PxTriangleMeshGeometry

PxRigidDynamic* PxCreateDynamic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape,
		PxReal	density
	)

simple method to create a PxRigidDynamic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the transform of the new object
[in]	shape	the shape of the new object
[in]	density	the density of the new object. Must be greater than zero.

Returns:

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

See also:

PxRigidDynamic PxShapeFlag

PxRigidDynamic* PxCreateDynamic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		PxReal	density,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a PxRigidDynamic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape, which must be a sphere, capsule, box or convex
[in]	material	the material for the new object's shape
[in]	density	the density of the new object. Must be greater than zero.
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Returns:

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

See also:

PxRigidDynamic PxShapeFlag

PxRigidDynamic* PxCreateKinematic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape,
		PxReal	density
	)

simple method to create a kinematic PxRigidDynamic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	density	the density of the new object. Must be greater than zero if the object is to participate in simulation.
[in]	shape	the shape of the new object

Note:

unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However, kinematics of other geometry types may not participate in simulation collision and may be used only for triggers or scene queries of moving objects under animation control. In this case the density parameter will be ignored and the created shape will be set up as a scene query only shape (see PxShapeFlag::eSCENE_QUERY_SHAPE)

Returns:

a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could not be constructed

See also:

PxRigidDynamic PxShapeFlag

PxRigidDynamic* PxCreateKinematic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		PxReal	density,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a kinematic PxRigidDynamic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape
[in]	material	the material for the new object's shape
[in]	density	the density of the new object. Must be greater than zero if the object is to participate in simulation.
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Note:

unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However, kinematics of other geometry types may not participate in simulation collision and may be used only for triggers or scene queries of moving objects under animation control. In this case the density parameter will be ignored and the created shape will be set up as a scene query only shape (see PxShapeFlag::eSCENE_QUERY_SHAPE)

Returns:

a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could not be constructed

See also:

PxRigidDynamic PxShapeFlag

PxRigidStatic* PxCreatePlane	(	PxPhysics &	sdk,
		const PxPlane &	plane,
		PxMaterial &	material
	)

create a plane actor. The plane equation is n.x + d = 0

Parameters:

[in]	sdk	the PxPhysics object
[in]	plane	a plane of the form n.x + d = 0
[in]	material	the material for the new object's shape

Returns:

a new static actor, or NULL if it could not be constructed

See also:

PxRigidStatic

PxRigidStatic * PxCreateStatic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape
	)

simple method to create a PxRigidStatic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	shape	the new object's shape

Returns:

a new static actor, or NULL if it could not be constructed

See also:

PxRigidStatic

PxRigidStatic* PxCreateStatic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a PxRigidStatic actor with a single PxShape.

Parameters:

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape
[in]	material	the material for the new object's shape
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Returns:

a new static actor, or NULL if it could not be constructed

See also:

PxRigidStatic

PxD6Joint* PxD6JointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a D6 joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxD6Joint

PxDefaultCpuDispatcher* PxDefaultCpuDispatcherCreate	(	PxU32	numThreads,
		PxU32 *	affinityMasks = NULL
	)

Create default dispatcher, extensions SDK needs to be initialized first.

Parameters:

[in]	numThreads	Number of worker threads the dispatcher should use.
[in]	affinityMasks	Array with affinity mask for each thread. If not defined, default masks will be used.

Note:

numThreads may be zero in which case no worker thread are initialized and simulation tasks will be executed on the thread that calls PxScene::simulate()

See also:

PxDefaultCpuDispatcher

PxFilterFlags PxDefaultSimulationFilterShader	(	PxFilterObjectAttributes	attributes0,
		PxFilterData	filterData0,
		PxFilterObjectAttributes	attributes1,
		PxFilterData	filterData1,
		PxPairFlags &	pairFlags,
		const void *	constantBlock,
		PxU32	constantBlockSize
	)

Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.

This shader provides the following logic:

• If one of the two filter objects is a trigger, the pair is acccepted and PxPairFlag::eTRIGGER_DEFAULT will be used for trigger reports
• Else, if the filter mask logic (see further below) discards the pair it will be suppressed (PxFilterFlag::eSUPPRESS)
• Else, the pair gets accepted and collision response gets enabled (PxPairFlag::eCONTACT_DEFAULT)

Filter mask logic: Given the two PxFilterData structures fd0 and fd1 of two collision objects, the pair passes the filter if the following conditions are met:

1) Collision groups of the pair are enabled 2) Collision filtering equation is satisfied

See also:

PxSimulationFilterShader

PxDistanceJoint* PxDistanceJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a distance Joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxDistanceJoint

PxU32 PxFindFaceIndex	(	const PxConvexMeshGeometry &	convexGeom,
		const PxTransform &	geomPose,
		const PxVec3 &	impactPos,
		const PxVec3 &	unitDir
	)

Computes closest polygon of the convex hull geometry for a given impact point and impact direction. When doing sweeps against a scene, one might want to delay the rather expensive computation of the hit face index for convexes until it is clear the information is really needed and then use this method to get the corresponding face index.

Parameters:

[in]	convexGeom	The convex mesh geometry.
[in]	geomPose	Pose for the geometry object.
[in]	impactPos	Impact position.
[in]	unitDir	Normalized impact direction.

Returns:

Closest face index of the convex geometry.

See also:

PxTransform PxConvexMeshGeometry

PxFixedJoint* PxFixedJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a fixed joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxFixedJoint

bool PxGetFilterBool

(

)

Retrieves filtering's boolean value. See comments for PxGroupsMask.

Returns:

flag Boolean value for filter.

See also:

PxSetFilterBool PxSetFilterConstants

void PxGetFilterConstants	(	PxGroupsMask &	c0,
		PxGroupsMask &	c1
	)

Gets filtering constant K0 and K1. See comments for PxGroupsMask.

Parameters:

[out]	c0	the filtering constants, as a mask. See PxGroupsMask.
[out]	c1	the filtering constants, as a mask. See PxGroupsMask.

See also:

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

void PxGetFilterOps	(	PxFilterOp::Enum &	op0,
		PxFilterOp::Enum &	op1,
		PxFilterOp::Enum &	op2
	)

Retrieves filtering operation. See comments for PxGroupsMask.

Parameters:

[out]	op0	First filter operator.
[out]	op1	Second filter operator.
[out]	op2	Third filter operator.

See also:

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

PxU16 PxGetGroup

(

const PxActor &

actor

)

Retrieves the value set with PxSetGroup().

Note:

Collision group is an integer between 0 and 31.

Parameters:

[in]

actor

The actor

Returns:

The collision group this actor belongs to

See also:

PxSetGroup

bool PxGetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2
	)

Determines if collision detection is performed between a pair of groups.

Note:

Collision group is an integer between 0 and 31.

Parameters:

[in]	group1	First Group
[in]	group2	Second Group

Returns:

True if the groups could collide

See also:

PxSetGroupCollisionFlag

PxGroupsMask PxGetGroupsMask

(

const PxActor &

actor

)

Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters:

[in]

actor

The actor

Returns:

The group mask for the actor.

See also:

PxSetGroupsMask()

PX_C_EXPORT bool PX_CALL_CONV PxInitExtensions	(	physx::PxPhysics &	physics,
		physx::PxPvd *	pvd
	)

Initialize the PhysXExtensions library.

This should be called before calling any functions or methods in extensions which may require allocation.

Note:

This function does not need to be called before creating a PxDefaultAllocator object.

Parameters:

	physics	a PxPhysics object
	pvd	an PxPvd (PhysX Visual Debugger) object

See also:

PxCloseExtensions PxFoundation PxPhysics

PxPrismaticJoint* PxPrismaticJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a prismatic joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxPrismaticJoint

PxRevoluteJoint* PxRevoluteJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a revolute joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxRevoluteJoint

void PxScaleRigidActor	(	PxRigidActor &	actor,
		PxReal	scale,
		bool	scaleMassProps = true
	)

scale a rigid actor by a uniform scale

The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.

Parameters:

[in]	actor	a rigid actor
[in]	scale	the scale by which to multiply the actor. Must be >0.
[in]	scaleMassProps	whether to scale the mass properties

void PxSetFilterBool

(

const bool

enable

)

Setups filtering's boolean value. See comments for PxGroupsMask.

Parameters:

[in]

enable

Boolean value for filter.

See also:

PxSetFilterOps PxSsetFilterConstants

void PxSetFilterConstants	(	const PxGroupsMask &	c0,
		const PxGroupsMask &	c1
	)

Setups filtering's K0 and K1 value. See comments for PxGroupsMask.

Parameters:

[in]	c0	The new group mask. See PxGroupsMask.
[in]	c1	The new group mask. See PxGroupsMask.

See also:

PxSetFilterOps PxSetFilterBool PxGetFilterConstants

void PxSetFilterOps	(	const PxFilterOp::Enum &	op0,
		const PxFilterOp::Enum &	op1,
		const PxFilterOp::Enum &	op2
	)

Setups filtering operations. See comments for PxGroupsMask.

Parameters:

[in]	op0	Filter op 0.
[in]	op1	Filter op 1.
[in]	op2	Filter op 2.

See also:

PxSetFilterBool PxSetFilterConstants

void PxSetGroup	(	PxActor &	actor,
		const PxU16	collisionGroup
	)

Sets which collision group this actor is part of.

Note:

Collision group is an integer between 0 and 31.

Parameters:

[in]	actor	The actor
[in]	collisionGroup	Collision group this actor belongs to

See also:

PxGetGroup

void PxSetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2,
		const bool	enable
	)

Specifies if collision should be performed by a pair of groups.

Note:

Collision group is an integer between 0 and 31.

Parameters:

[in]	group1	First Group
[in]	group2	Second Group
[in]	enable	True to enable collision between the groups

See also:

PxGetGroupCollisionFlag

void PxSetGroupsMask	(	PxActor &	actor,
		const PxGroupsMask &	mask
	)

Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters:

[in]	actor	The actor
[in]	mask	The group mask to set for the actor.

See also:

PxGetGroupsMask()

PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame	(	physx::PxJoint &	joint,
		const physx::PxVec3 *	wsAnchor,
		const physx::PxVec3 *	wsAxis
	)

Helper function to setup a joint's global frame.

This replaces the following functions from previous SDK versions:

void NxJointDesc::setGlobalAnchor(const NxVec3& wsAnchor); void NxJointDesc::setGlobalAxis(const NxVec3& wsAxis);

The function sets the joint's localPose using world-space input parameters.

Parameters:

[in]	wsAnchor	Global frame anchor point. Range: position vector
[in]	wsAxis	Global frame axis. Range: direction vector
[in,out]	joint	Joint having its global frame set.

PxSphericalJoint* PxSphericalJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a spherical joint.

Parameters:

[in]	physics	the physics SDK
[in]	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	the position and orientation of the joint relative to actor0
[in]	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	the position and orientation of the joint relative to actor1

See also:

PxSphericalJoint