PxContactSet Class Reference
[Physics]

An array of contact points, as passed to contact modification. More...

#include <PxContactModifyCallback.h>

Collaboration diagram for PxContactSet:

[legend]

List of all members.

Public Member Functions
PX_FORCE_INLINE const PxVec3 &	getPoint (PxU32 i) const
	Get the position of a specific contact point in the set.
PX_FORCE_INLINE void	setPoint (PxU32 i, const PxVec3 &p)
	Alter the position of a specific contact point in the set.
PX_FORCE_INLINE const PxVec3 &	getNormal (PxU32 i) const
	Get the contact normal of a specific contact point in the set.
PX_FORCE_INLINE void	setNormal (PxU32 i, const PxVec3 &n)
	Alter the contact normal of a specific contact point in the set.
PX_FORCE_INLINE PxReal	getSeparation (PxU32 i) const
	Get the separation of a specific contact point in the set.
PX_FORCE_INLINE void	setSeparation (PxU32 i, PxReal s)
	Alter the separation of a specific contact point in the set.
PX_FORCE_INLINE const PxVec3 &	getTargetVelocity (PxU32 i) const
	Get the target velocity of a specific contact point in the set.
PX_FORCE_INLINE void	setTargetVelocity (PxU32 i, const PxVec3 &v)
	Alter the target velocity of a specific contact point in the set.
PX_FORCE_INLINE PxU32	getInternalFaceIndex0 (PxU32 i)
	Get the face index with respect to the first shape of the pair for a specific contact point in the set.
PX_FORCE_INLINE PxU32	getInternalFaceIndex1 (PxU32 i)
	Get the face index with respect to the second shape of the pair for a specific contact point in the set.
PX_FORCE_INLINE PxReal	getMaxImpulse (PxU32 i) const
	Get the maximum impulse for a specific contact point in the set.
PX_FORCE_INLINE void	setMaxImpulse (PxU32 i, PxReal s)
	Alter the maximum impulse for a specific contact point in the set.
PX_FORCE_INLINE PxReal	getRestitution (PxU32 i) const
	Get the restitution coefficient for a specific contact point in the set.
PX_FORCE_INLINE void	setRestitution (PxU32 i, PxReal r)
	Alter the restitution coefficient for a specific contact point in the set.
PX_FORCE_INLINE PxReal	getStaticFriction (PxU32 i) const
	Get the static friction coefficient for a specific contact point in the set.
PX_FORCE_INLINE void	setStaticFriction (PxU32 i, PxReal f)
	Alter the static friction coefficient for a specific contact point in the set.
PX_FORCE_INLINE PxReal	getDynamicFriction (PxU32 i) const
	Get the static friction coefficient for a specific contact point in the set.
PX_FORCE_INLINE void	setDynamicFriction (PxU32 i, PxReal f)
	Alter the static dynamic coefficient for a specific contact point in the set.
PX_FORCE_INLINE void	ignore (PxU32 i)
	Ignore the contact point.
PX_FORCE_INLINE PxU32	size () const
	The number of contact points in the set.
PX_FORCE_INLINE PxReal	getInvMassScale0 () const
	Returns the invMassScale of body 0.
PX_FORCE_INLINE PxReal	getInvMassScale1 () const
	Returns the invMassScale of body 1.
PX_FORCE_INLINE PxReal	getInvInertiaScale0 () const
	Returns the invInertiaScale of body 0.
PX_FORCE_INLINE PxReal	getInvInertiaScale1 () const
	Returns the invInertiaScale of body 1.
PX_FORCE_INLINE void	setInvMassScale0 (const PxReal scale)
	Sets the invMassScale of body 0.
PX_FORCE_INLINE void	setInvMassScale1 (const PxReal scale)
	Sets the invMassScale of body 1.
PX_FORCE_INLINE void	setInvInertiaScale0 (const PxReal scale)
	Sets the invInertiaScale of body 0.
PX_FORCE_INLINE void	setInvInertiaScale1 (const PxReal scale)
	Sets the invInertiaScale of body 1.
Protected Member Functions
PX_FORCE_INLINE PxContactPatch *	getPatch () const
Protected Attributes
PxU32	mCount
	Number of contact points in the set.
PxModifiableContact *	mContacts
	The contact points of the set.

---

Detailed Description

An array of contact points, as passed to contact modification.

The word 'set' in the name does not imply that duplicates are filtered in any way. This initial set of contacts does potentially get reduced to a smaller set before being passed to the solver.

You can use the accessors to read and write contact properties. The number of contacts is immutable, other than being able to disable contacts using ignore().

See also:

PxContactModifyCallback, PxModifiableContact

---

Member Function Documentation

PX_FORCE_INLINE PxReal PxContactSet::getDynamicFriction

(

PxU32

i

)

const [inline]

Get the static friction coefficient for a specific contact point in the set.

See also:

PxModifiableContact.dynamicFriction

PX_FORCE_INLINE PxU32 PxContactSet::getInternalFaceIndex0

(

PxU32

i

)

[inline]

Get the face index with respect to the first shape of the pair for a specific contact point in the set.

See also:

PxModifiableContact.internalFaceIndex0

References PX_UNUSED(), and PXC_CONTACT_NO_FACE_INDEX.

PX_FORCE_INLINE PxU32 PxContactSet::getInternalFaceIndex1

(

PxU32

i

)

[inline]

Get the face index with respect to the second shape of the pair for a specific contact point in the set.

See also:

PxModifiableContact.internalFaceIndex1

References PxContactPatch::eHAS_FACE_INDICES, PxContactPatch::internalFlags, and PXC_CONTACT_NO_FACE_INDEX.

PX_FORCE_INLINE PxReal PxContactSet::getInvInertiaScale0

(

)

const [inline]

Returns the invInertiaScale of body 0.

A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

PX_FORCE_INLINE PxReal PxContactSet::getInvInertiaScale1

(

)

const [inline]

Returns the invInertiaScale of body 1.

A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

PX_FORCE_INLINE PxReal PxContactSet::getInvMassScale0

(

)

const [inline]

Returns the invMassScale of body 0.

A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

PX_FORCE_INLINE PxReal PxContactSet::getInvMassScale1

(

)

const [inline]

Returns the invMassScale of body 1.

A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

PX_FORCE_INLINE PxReal PxContactSet::getMaxImpulse

(

PxU32

i

)

const [inline]

Get the maximum impulse for a specific contact point in the set.

See also:

PxModifiableContact.maxImpulse

PX_FORCE_INLINE const PxVec3& PxContactSet::getNormal

(

PxU32

i

)

const [inline]

Get the contact normal of a specific contact point in the set.

See also:

PxModifiableContact.normal

PX_FORCE_INLINE PxContactPatch* PxContactSet::getPatch

(

)

const [inline, protected]

PX_FORCE_INLINE const PxVec3& PxContactSet::getPoint

(

PxU32

i

)

const [inline]

Get the position of a specific contact point in the set.

See also:

PxModifiableContact.point

PX_FORCE_INLINE PxReal PxContactSet::getRestitution

(

PxU32

i

)

const [inline]

Get the restitution coefficient for a specific contact point in the set.

See also:

PxModifiableContact.restitution

PX_FORCE_INLINE PxReal PxContactSet::getSeparation

(

PxU32

i

)

const [inline]

Get the separation of a specific contact point in the set.

See also:

PxModifiableContact.separation

PX_FORCE_INLINE PxReal PxContactSet::getStaticFriction

(

PxU32

i

)

const [inline]

Get the static friction coefficient for a specific contact point in the set.

See also:

PxModifiableContact.staticFriction

PX_FORCE_INLINE const PxVec3& PxContactSet::getTargetVelocity

(

PxU32

i

)

const [inline]

Get the target velocity of a specific contact point in the set.

See also:

PxModifiableContact.targetVelocity

PX_FORCE_INLINE void PxContactSet::ignore

(

PxU32

i

)

[inline]

Ignore the contact point.

If a contact point is ignored then no force will get applied at this point. This can be used to disable collision in certain areas of a shape, for example.

PX_FORCE_INLINE void PxContactSet::setDynamicFriction	(	PxU32	i,
		PxReal	f
	)			[inline]

Alter the static dynamic coefficient for a specific contact point in the set.

See also:

PxModifiableContact.dynamic

References PxContactPatch::eREGENERATE_PATCHES, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setInvInertiaScale0

(

const PxReal

scale

)

[inline]

Sets the invInertiaScale of body 0.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

References PxContactPatch::eHAS_MODIFIED_MASS_RATIOS, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setInvInertiaScale1

(

const PxReal

scale

)

[inline]

Sets the invInertiaScale of body 1.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

References PxContactPatch::eHAS_MODIFIED_MASS_RATIOS, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setInvMassScale0

(

const PxReal

scale

)

[inline]

Sets the invMassScale of body 0.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

References PxContactPatch::eHAS_MODIFIED_MASS_RATIOS, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setInvMassScale1

(

const PxReal

scale

)

[inline]

Sets the invMassScale of body 1.

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

References PxContactPatch::eHAS_MODIFIED_MASS_RATIOS, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setMaxImpulse	(	PxU32	i,
		PxReal	s
	)			[inline]

Alter the maximum impulse for a specific contact point in the set.

Note:

Must be nonnegative. If set to zero, the contact point will be ignored

See also:

PxModifiableContact.maxImpulse

References PxContactPatch::eHAS_MAX_IMPULSE, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setNormal	(	PxU32	i,
		const PxVec3 &	n
	)			[inline]

Alter the contact normal of a specific contact point in the set.

Note:

Changing the normal can cause contact points to be ignored.

See also:

PxModifiableContact.normal

References PxContactPatch::eREGENERATE_PATCHES, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setPoint	(	PxU32	i,
		const PxVec3 &	p
	)			[inline]

Alter the position of a specific contact point in the set.

See also:

PxModifiableContact.point

PX_FORCE_INLINE void PxContactSet::setRestitution	(	PxU32	i,
		PxReal	r
	)			[inline]

Alter the restitution coefficient for a specific contact point in the set.

Note:

Valid ranges [0,1]

See also:

PxModifiableContact.restitution

References PxContactPatch::eREGENERATE_PATCHES, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setSeparation	(	PxU32	i,
		PxReal	s
	)			[inline]

Alter the separation of a specific contact point in the set.

See also:

PxModifiableContact.separation

PX_FORCE_INLINE void PxContactSet::setStaticFriction	(	PxU32	i,
		PxReal	f
	)			[inline]

Alter the static friction coefficient for a specific contact point in the set.

See also:

PxModifiableContact.staticFriction

References PxContactPatch::eREGENERATE_PATCHES, and PxContactPatch::internalFlags.

PX_FORCE_INLINE void PxContactSet::setTargetVelocity	(	PxU32	i,
		const PxVec3 &	v
	)			[inline]

Alter the target velocity of a specific contact point in the set.

See also:

PxModifiableContact.targetVelocity

References PxContactPatch::eHAS_TARGET_VELOCITY, and PxContactPatch::internalFlags.

PX_FORCE_INLINE PxU32 PxContactSet::size

(

)

const [inline]

The number of contact points in the set.

---

Member Data Documentation

PxModifiableContact* PxContactSet::mContacts [protected]

The contact points of the set.

PxU32 PxContactSet::mCount [protected]

Number of contact points in the set.

---

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

• PxContactModifyCallback.h