Adds a new collision capsule.

A collision capsule is defined as the bounding volume of two spheres.

Parameters:

[in]	first	Index of first sphere.
[in]	second	Index of second sphere.

Note:

A maximum of 32 capsules are supported.

Spheres referenced by a capsule need to be defined before simulating the scene, see addCollisionSphere/setCollisionSpheres.

Adds a new collision convex.

A collision convex is defined as the intersection of planes.

Parameters:

[in]

mask

The bitmask of the planes that make up the convex.

Note:

Planes referenced by a collision convex need to be defined before simulating the scene, see addCollisionPlane/setCollisionPlanes.

Adds a collision plane.

Parameters:

[in]

plane

New collision plane.

Note:

Planes are not used for collision until they are added to a convex object, see addCollisionConvex().

A maximum of 32 planes are supported.

Adds a new collision sphere.

Parameters:

[in]

sphere

New collision sphere.

Note:

A maximum of 32 spheres are supported.

Adds a new collision triangle.

Parameters:

[in]

triangle

New collision triangle.

Note:

GPU cloth is limited to 500 triangles per instance.

Assign current to previous positions for collision shapes, motion constraints, and separation constraints.

This allows to prevent false interpolation after leaping to an animation frame, for example. After calling clearInterpolation(), the current positions will be used without interpolation. New positions can be set afterwards to interpolate to by the end of the next frame.

Returns the angular drag coefficient.

Returns:

Angular drag coefficient.

Returns angular acceleration scale parameter.

Returns:

Angular acceleration scale parameter.

Returns centrifugal acceleration scale parameter.

Returns:

Centrifugal acceleration scale parameter.

Returns cloth flags.

Returns:

Cloth flags.

Retrieves the collision shapes.

Returns collision spheres, capsules, convexes, and triangles that were added through the addCollision*() methods and modified through the setCollision*() methods.

Parameters:

[out]	spheresBuffer	Spheres destination buffer, must be NULL or the same length as getNbCollisionSpheres().
[out]	capsulesBuffer	Capsules destination buffer, must be NULL or the same length as 2*getNbCollisionCapsules().
[out]	planesBuffer	Planes destination buffer, must be NULL or the same length as getNbCollisionPlanes().
[out]	convexesBuffer	Convexes destination buffer, must be NULL or the same length as getNbCollisionConvexes().
[out]	trianglesBuffer	Triangles destination buffer, must be NULL or the same length as getNbCollisionTriangles().

Note:

Returns the positions at the end of the next simulate() call as specified by the setCollision*() methods.

Returns the mass-scaling coefficient.

Returns:

Mass-scaling coefficient.

Returns string name of dynamic type.

Returns:

Class name of most derived type of this object.

Implements PxBase.

Returns cloth contact offset.

See also:

setContactOffset

Returns the damping coefficient.

Returns:

Damping coefficient.

Returns external acceleration.

Returns:

External acceleration in global coordinates.

Returns a pointer to the corresponding cloth fabric.

Returns:

The associated cloth fabric.

Returns the friction coefficient.

Returns:

Friction coefficient.

Returns global pose.

Returns:

Global pose as specified by the last setGlobalPose() or setTargetPose() call.

Returns the linear drag coefficient.

Returns:

Linear drag coefficient.

Returns linear acceleration scale parameter.

Returns:

Linear acceleration scale parameter.

Reads back scale and bias factor for motion constraints.

See also:

setMotionConstraintConfig()

Copies motion constraints to the user provided buffer.

Parameters:

[out]

motionConstraintsBuffer

Destination buffer, must be at least getNbMotionConstraints().

Returns:

True if the copy was successful.

Returns the number of collision capsules.

Returns:

Number of collision capsules.

Returns the number of collision convexes.

Returns:

Number of collision convexes.

Returns the number of collision planes.

Returns:

Number of collision planes.

Returns the number of collision spheres.

Returns:

Number of collision spheres.

Returns the number of collision triangles.

Returns:

Number of collision triangles.

Returns the number of motion constraints.

Returns:

Number of motion constraints (same as getNbParticles() if enabled, 0 otherwise).

Returns the number of particle accelerations.

Returns:

Number of particle accelerations (same as getNbParticles() if enabled, 0 otherwise).

Returns the number of particles.

Returns:

Number of particles.

Returns the number of rest positions.

Returns:

Number of rest positions (same as getNbParticles() if enabled, 0 otherwise).

Returns the number of particles participating in self-collision.

Returns:

Size of particle subset participating in self-collision, or 0 if all particles are used.

Returns the number of separation constraints.

Returns:

Number of separation constraints (same as getNbParticles() if enabled, 0 otherwise).

Returns the number of virtual particles.

Returns:

Number of virtual particles.

Returns the number of the virtual particle weights.

Returns:

Number of virtual particle weights.

Copies particle accelerations to the user provided buffer.

Parameters:

[out]

particleAccelerationsBuffer

Destination buffer, must be at least getNbParticleAccelerations().

Returns:

true if the copy was successful.

Returns previous time step size.

Time between sampling of previous and current particle positions for computing particle velocity.

Returns:

Previous time step size.

Returns cloth rest offset.

See also:

setRestOffset

Copies array of rest positions to the user provided buffer.

Parameters:

[out]

restPositions

Destination buffer, must be at least getNbParticles() in length.

Returns:

true if the copy was successful.

Returns the self-collision distance.

Returns:

Self-collision distance.

Copies array of particles participating in self-collision to the user provided buffer.

Parameters:

[out]

indices

Destination buffer, must be at least getNbSelfCollisionIndices() in length.

Returns:

true if the copy was successful.

Returns the self-collision stiffness.

Returns:

Self-collision stiffness.

Copies separation constraints to the user provided buffer.

Parameters:

[out]

separationConstraintsBuffer

Destination buffer, must be at least getNbSeparationConstraints().

Returns:

True if the copy was successful.

Retrieves the object's collision filter data.

Returns:

Associated filter data

See also:

setSimulationFilterData() PxFilterData

Returns the velocity threshold for putting cloth in sleep state.

Returns:

Velocity threshold for putting cloth in sleep state.

Returns solver frequency.

Returns:

Solver frequency.

Returns stiffness frequency.

Returns:

Stiffness frequency.

See also:

setStiffnessFrequency() for details.

Returns the solver parameters for one of the phase types.

Parameters:

[in]

type

Type of phases to return the config for.

Returns:

Vertical solver parameters.

Returns the stiffness parameters for the tether constraints.

Returns:

Tether solver parameters.

Copies index array of virtual particles to the user provided buffer.

Parameters:

[out]

indicesBuffer

Destination buffer, must be at least 4*getNbVirtualParticles().

See also:

setVirtualParticles()

Copies weight table of virtual particles to the user provided buffer.

Parameters:

[out]

weightsBuffer

Destination buffer, must be at least getNbVirtualParticleWeights().

Returns the wake counter of the cloth.

Returns:

The wake counter of the cloth.

See also:

isSleeping() setWakeCounter()

Returns the coefficient of the air drag on the fabric's triangles.

Returns the coefficient of the air lift on the fabric's triangles.

Returns the velocity of the wind affecting the fabric's triangles.

Returns world space bounding box.

Parameters:

[in]

inflation

Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns:

Particle bounds in global coordinates.

Implements PxActor.

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

Reimplemented from PxActor.

References PxActor::isKindOf().

Returns true if cloth is in sleep state.

Note:

It is invalid to use this method if the cloth has not been added to a scene already.

Returns:

True if cloth is in sleep state.

Acquires read access to the cloth particle data.

Returns:

PxClothParticleData pointer which provides access to positions and weight.

Note:

This function is equivalent to lockParticleData(PxDataAccessFlag::eREADABLE).

Acquires access to the cloth particle data.

This function returns a pointer to a PxClothParticleData instance providing access to the PxClothParticle array of the current and previous iteration. The user is responsible for calling PxClothParticleData::unlock() after reading or updating the data. In case the lock has been requested using PxDataAccessFlag::eWRITABLE, the unlock() call copies the arrays pointed to by PxClothParticleData::particles/previousParticles back to the internal particle buffer. Updating the data when a read-only lock has been requested results in undefined behavior. Requesting multiple concurrent read-only locks is supported, but no other lock may be active when requesting a write lock.

If PxDataAccessFlag::eDEVICE is set in flags then the returned pointers will be to CUDA device memory, this can be used for direct interop with graphics APIs. Note that these pointers should only be considered valid until PxClothParticleData::unlock() is called and should not be stored. PxDataAccessFlag::eDEVICE implies read and write access, and changing the particles/previousParticles members results in undefined behavior.

Parameters:

flags

Specifies if particle data is read or written.

Returns:

PxClothParticleData pointer which provides access to positions and weight.

Forces cloth to be put in sleep state.

Note:

It is invalid to use this method if the cloth has not been added to a scene already.

Deletes the cloth. Do not keep a reference to the deleted instance.

Implements PxActor.

Removes a collision capsule.

Parameters:

[in]

index

Index of capsule to remove.

Note:

The indices of capsules added after index are decremented by 1.

Removes a collision convex.

Parameters:

[in]

index

Index of convex to remove.

Note:

The indices of convexes added after index are decremented by 1.

Planes referenced by this convex will not be removed.

Removes a collision plane.

Parameters:

[in]

index

Index of plane to remove.

Note:

The indices of planes added after index are decremented by 1.

Convexes that reference the plane will have the plane removed from their mask. If after removal a convex consists of zero planes, it will also be removed.

Removes collision sphere.

Parameters:

[in]

index

Index of sphere to remove.

Note:

The indices of spheres added after index are decremented by 1.

Capsules made from the sphere to be removed are removed as well.

Removes a collision triangle.

Parameters:

[in]

index

Index of triangle to remove.

Note:

The indices of triangles added after index are decremented by 1.

Sets the angular drag coefficient.

The angular drag coefficient is the portion of the pose rotation that is applied to each particle per stiffness period (see PxCloth::setStiffnessFrequency).

Note:

The scale is specified independently for each local rotation axis.

Parameters:

[in]

dragCoefficient

New angular drag coefficient between 0.0f and 1.0 (default: 0.0).

Note:

The drag coefficient shouldn't be set higher than the damping coefficient.

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters:

[in]

scale

New scale factor between 0.0 (no inertia) and 1.0 (full inertia) (default: 1.0).

Note:

The scale is specified independently for each local rotation axis.

A value of 0.0 disables all inertia effects of rotations applied through setTargetPos().

See also:

setTargetPose()

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters:

[in]

scale

New scale factor between 0.0 (no centrifugal force) and 1.0 (full centrifugal force) (default: 1.0).

Note:

The scale is specified independently for each local rotation axis.

A value of 0.0 disables all centrifugal forces of rotations applied through setTargetPos().

See also:

setTargetPose()

Sets cloth flags (e.g. use GPU for simulation, enable CCD, collide against scene).

Parameters:

[in]	flag	Mask of which flags to set.
[in]	value	Value to set flags to.

Set all cloth flags.

Parameters:

[in]

inFlags

Bit mask of flag values

Sets the collision mass scaling coefficient.

During collision it is possible to artificially increase the mass of a colliding particle, this has an effect comparable to making constraints attached to the particle stiffer and can help reduce stretching and interpenetration around collision shapes.

Parameters:

[in]

scalingCoefficient

Unitless multiplier that can take on values > 1 (default: 0.0).

Updates positions of collision planes.

Parameters:

[in]	planesBuffer	New plane positions by the end of the next simulate() call.
[in]	count	New number of collision planes.

Note:

You can also use this function to change the number of collision planes.

A maximum of 32 planes are supported.

See also:

clearInterpolation()

Updates location and radii of collision spheres.

Parameters:

[in]	spheresBuffer	New sphere positions and radii by the end of the next simulate() call.
[in]	count	New number of collision spheres.

Note:

You can also use this function to change the number of collision spheres.

A maximum of 32 spheres are supported.

See also:

clearInterpolation()

Updates positions of collision triangles.

Parameters:

[in]	trianglesBuffer	New triangle positions by the end of the next simulate() call.
[in]	count	New number of collision triangles.

Note:

You can also use this function to change the number of collision triangles.

GPU cloth is limited to 500 triangles per instance.

See also:

clearInterpolation()

Sets the width by which the cloth bounding box is increased to find nearby scene collision shapes.

The cloth particles collide against shapes in the scene that intersect the cloth bounding box enlarged by the contact offset (if the eSCENE_COLLISION flag is set). Default: 0.0f

Parameters:

[in]

offset

Range: [0, PX_MAX_F32)

See also:

getContactOffset setRestOffset

Sets the damping coefficient.

The damping coefficient is the portion of local particle velocity that is canceled per stiffness period (see PxCloth::setStiffnessFrequency).

Note:

The scale is specified independently for each local space axis.

Parameters:

[in]

dampingCoefficient

New damping coefficient between 0.0 and 1.0 (default: 0.0).

Same as setLinearDragCoefficient(PxVec3(coefficient)); setAngularDragCoefficient(PxVec3(coefficient));.

Sets external particle accelerations.

Parameters:

[in]

acceleration

New acceleration in global coordinates (default: 0.0).

Note:

Use this to implement simple wind etc.

Sets the collision friction coefficient.

Parameters:

[in]

frictionCoefficient

New friction coefficient between 0.0 and 1.0 (default: 0.0).

Note:

Currently only spheres and capsules impose friction on the colliding particles.

Sets current pose of the cloth without affecting inertia.

Use this to reset the pose (e.g. teleporting).

Parameters:

[in]

pose

New global pose.

Note:

No pose interpolation is performed.

Inertia is not preserved.

See also:

setTargetPose() for inertia preserving method.

Same as setLinearInertiaScale(PxVec3(scale)); setAngularInertiaScale(PxVec3(scale)); getCentrifugalInertiaScale(PxVec3(scale)); .

Sets the linear drag coefficient.

The linear drag coefficient is the portion of the pose translation that is applied to each particle per stiffness period (see PxCloth::setStiffnessFrequency).

Note:

The scale is specified independently for each local space axis.

Parameters:

[in]

dragCoefficient

New linear drag coefficient between 0.0f and 1.0 (default: 0.0).

Note:

The drag coefficient shouldn't be set higher than the damping coefficient.

Sets the acceleration scale factor to adjust inertia effect from global pose changes.

Parameters:

[in]

scale

New scale factor between 0.0 (no inertia) and 1.0 (full inertia) (default: 1.0).

Note:

The scale is specified independently for each local coordinate axis.

A value of 0.0 disables all inertia effects of translations applied through setTargetPos().

See also:

setTargetPose()

Specifies motion constraint scale, bias, and stiffness.

Parameters:

[in]

config

Motion constraints solver parameters.

Updates motion constraints (position and radius of the constraint sphere).

Parameters:

[in]

motionConstraints

motion constraints at the end of the next simulate() call.

Note:

The motionConstraints must either be null to disable motion constraints, or be the same length as the number of particles, see getNbParticles().

See also:

clearInterpolation()

Updates particle accelerations, w component is ignored.

Parameters:

[in]

particleAccelerations

New particle accelerations.

Note:

The particleAccelerations must either be null to disable accelerations, or be the same length as the number of particles, see getNbParticles().

Updates cloth particle location or inverse weight for current and previous particle state.

Parameters:

[in]	currentParticles	The particle data for the current particle state or NULL if the state should not be changed.
[in]	previousParticles	The particle data for the previous particle state or NULL if the state should not be changed.

Note:

The invWeight stored in previousParticles is the new particle inverse mass, or zero for a static particle. However, if invWeight stored in currentParticles is non-zero, it is still used once for the next particle integration and fabric solve.

If currentParticles or previousParticles are non-NULL then they must be the length specified by getNbParticles().

This can be used to teleport particles (use same positions for current and previous).

See also:

PxClothParticle

Sets the minimum distance between colliding cloth particles and scene shapes.

Cloth particles colliding against shapes in the scene get no closer to the shape's surface than specified by the rest offset (if the eSCENE_COLLISION flag is set). Default: 0.0f

Parameters:

[in]

offset

Range: [0, PX_MAX_F32)

See also:

getRestOffset setContactOffset

Sets the cloth particles rest positions.

If non-null the cloth self-collision will consider the rest positions by discarding particle->particle collision where the distance between the associated rest particles is < the self collision distance. This allows self-collision distances that are larger than the minimum edge length in the mesh. Typically this function should be called with the same positions used to construct the cloth instance.

Parameters:

[in]

restPositions

Undeformed particle positions, the w component will be ignored

Note:

restPositions must either be null to disable rest position consideration, or be the same length as the number of particles, see getNbParticles().

Sets the self collision distance.

A value larger than 0.0 enables particle versus particle collision.

Parameters:

[in]

distance

Minimum distance at which two particles repel each other (default: 0.0).

Sets a subset of cloth particles which participate in self-collision.

If non-null the cloth self-collision will consider a subset of particles instead of all the particles. This can be used to improve self-collision performance or to increase the minimum distance between two self-colliding particles (and therefore the maximum sensible self-collision distance).

Parameters:

[in]	indices	array of particle indices which participate in self-collision.
[in]	nbIndices	number of particle indices, or 0 to use all particles for self-collision.

Note:

These indices will also be used if cloth inter-collision is enabled.

Sets the self collision stiffness.

Self-collision stiffness controls how much two particles repel each other when they are closer than the self-collision distance.

Parameters:

[in]

stiffness

Fraction of distance residual to resolve per iteration (default: 1.0).

Updates separation constraints (position and radius of the constraint sphere).

Parameters:

[in]

separationConstraints

separation constraints at the end of the next simulate() call.

Note:

The separationConstraints must either be null to disable separation constraints, or be the same length as the number of particles, see getNbParticles().

See also:

clearInterpolation()

Sets the user definable collision filter data.

Parameters:

data

The data that will be returned in the PxScene filter shader callback.

Note:

To disable collision on a cloth actor it is sufficient to set the filter data to some non-zero value (if using the SDK's default filter shader).

See also:

PxSimulationFilterShader PxFilterData

Sets the velocity threshold for putting cloth in sleep state.

If none of the particles moves faster (in local space) than the threshold for a while, the cloth will be put in sleep state and simulation will be skipped.

Parameters:

[in]

threshold

Velocity threshold (default: 0.0f)

Sets the solver frequency parameter.

Solver frequency specifies how often the simulation step is computed per second. For example, a value of 60 represents one simulation step per frame in a 60fps scene. A value of 120 will represent two simulation steps per frame, etc.

Parameters:

[in]

frequency

Solver frequency per second (default: 60.0).

Sets the stiffness frequency parameter.

The stiffness frequency controls the power-law nonlinearity of all rate of change parameters (stretch stiffness, shear stiffness, bending stiffness, tether stiffness, self-collision stiffness, motion constraint stiffness, damp coefficient, linear and angular drag coefficients). Increasing the frequency avoids numerical cancellation for values near zero or one, but increases the non-linearity of the parameter. It is not recommended to change this parameter after cloth initialization. For example, the portion of edge overstretch removed per second is equal to the stretch stiffness raised to the power of the stiffness frequency.

Parameters:

[in]

frequency

Stiffness frequency per second (default: 10.0).

Sets the solver parameters for the vertical solver phases.

Parameters:

[in]	config	Stretch solver parameters.
[in]	type	Type of phases to set config for.

Sets pose that the cloth should move to by the end of the next simulate() call.

This function will move the cloth in world space. The resulting simulation may reflect inertia effect as a result of pose acceleration.

Parameters:

[in]

pose

Target pose at the end of the next simulate() call.

See also:

setGlobalPose() to move Cloth without inertia effect.

Sets the stiffness parameters for the tether constraints.

Parameters:

[in]

config

Tether constraints solver parameters.

Assigns virtual particles.

Virtual particles provide more robust and accurate collision handling against collision spheres and capsules. More virtual particles will generally increase the accuracy of collision handling, and thus a sufficient number of virtual particles can mimic triangle-based collision handling.
Virtual particles are specified as barycentric interpolation of real particles: The position of a virtual particle is w0 * P0 + w1 * P1 + w2 * P2, where P0, P1, P2 real particle positions. The barycentric weights w0, w1, w2 are stored in a separate table so they can be shared across multiple virtual particles.

Parameters:

[in]	numVirtualParticles	total number of virtual particles.
[in]	indices	Each virtual particle has four indices, the first three for real particle indices, and the last for the weight table index. Thus, the length of indices needs to be 4*numVirtualParticles.
[in]	numWeights	total number of unique weights triples.
[in]	weights	array for barycentric weights.

Note:

Virtual particles only incur a runtime cost during the collision stage. Still, it is advisable to only use virtual particles for areas where high collision accuracy is desired. (e.g. sleeve around elbow).

Sets the wake counter for the cloth.

The wake counter value determines how long all particles need to move less than the velocity threshold until the cloth is put to sleep (see setSleepLinearVelocity()).

Note:

Passing in a positive value will wake the cloth up automatically. Default: 0.395 (which corresponds to 20 frames for a time step of 0.02)

Parameters:

[in]

wakeCounterValue

Wake counter value. Range: [0, PX_MAX_F32)

See also:

isSleeping() getWakeCounter()

Sets the coefficient of the air drag on the fabric's triangles.

Sets the coefficient of the air lift on the fabric's triangles.

Sets the velocity of the wind affecting the fabric's triangles.

Forces cloth to wake up from sleep state.

Note:

This will set the wake counter of the cloth to the value specified in PxSceneDesc::wakeCounterResetValue.

It is invalid to use this method if the cloth has not been added to a scene already.

See also:

isSleeping() putToSleep()