PxRigidActor Class Reference
[Physics]

PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK. More...

#include <PxRigidActor.h>

Inheritance diagram for PxRigidActor:

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Collaboration diagram for PxRigidActor:

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List of all members.

Public Member Functions
virtual void	release ()=0
	Deletes the rigid actor object.
Global Pose Manipulation
virtual PxTransform	getGlobalPose () const =0
	Retrieves the actors world space transform.
virtual void	setGlobalPose (const PxTransform &pose, bool autowake=true)=0
	Method for setting an actor's pose in the world.
Shapes
virtual PX_DEPRECATED PxShape *	createShape (const PxGeometry &geometry, PxMaterial *const *materials, PxU16 materialCount, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE)=0
	Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.
PX_DEPRECATED PX_FORCE_INLINE PxShape *	createShape (const PxGeometry &geometry, const PxMaterial &material, PxShapeFlags shapeFlags=PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE)
	Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.
virtual void	attachShape (PxShape &shape)=0
virtual void	detachShape (PxShape &shape, bool wakeOnLostTouch=true)=0
virtual PxU32	getNbShapes () const =0
	Returns the number of shapes assigned to the actor.
virtual PxU32	getShapes (PxShape **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the shape pointers belonging to the actor.
Constraints
virtual PxU32	getNbConstraints () const =0
	Returns the number of constraint shaders attached to the actor.
virtual PxU32	getConstraints (PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the constraint shader pointers belonging to the actor.
PX_INLINE	PxRigidActor (PxType concreteType, PxBaseFlags baseFlags)
PX_INLINE	PxRigidActor (PxBaseFlags baseFlags)
virtual	~PxRigidActor ()
virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

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Detailed Description

PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK.

PxRigidActor objects specify the geometry of the object by defining a set of attached shapes (see PxShape, createShape()).

See also:

PxActor

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Constructor & Destructor Documentation

PX_INLINE PxRigidActor::PxRigidActor	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)			[inline, protected]

PX_INLINE PxRigidActor::PxRigidActor

(

PxBaseFlags

baseFlags

)

[inline, protected]

virtual PxRigidActor::~PxRigidActor

(

)

[inline, protected, virtual]

---

Member Function Documentation

virtual void PxRigidActor::attachShape

(

PxShape &

shape

)

[pure virtual]

attach a shared shape to an actor

This call will increment the reference count of the shape.

Note:

Mass properties of dynamic rigid actors will not automatically be recomputed to reflect the new mass distribution implied by the shape. Follow this call with a call to the PhysX extensions method PxRigidBodyExt::updateMassAndInertia() to do that.

Attaching a triangle mesh, heightfield or plane geometry shape configured as eSIMULATION_SHAPE is not supported for non-kinematic PxRigidDynamic instances.

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]

shape

the shape to attach.

Referenced by PxRigidActorExt::createExclusiveShape().

PX_DEPRECATED PX_FORCE_INLINE PxShape* PxRigidActor::createShape	(	const PxGeometry &	geometry,
		const PxMaterial &	material,
		PxShapeFlags	shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE
	)			[inline]

Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.

This is equivalent to the following

PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1 actor->attachShape(shape); // increments reference count shape->release(); // releases user reference, leaving reference count at 1

As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.

Note:

The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see PxShapeFlag). Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for non-kinematic PxRigidDynamic instances.

Creating compounds with a very large number of shapes may adversely affect performance and stability.

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]	geometry	the geometry of the shape
[in]	material	the material for the shape
[in]	shapeFlags	optional PxShapeFlags

Returns:

The newly created shape.

Note:

this method is deprecated, please use PxPhysics::createShape() and PxRigidActor::attachShape() or PxRigidActorExt::createExclusiveShape()

See also:

PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape(), PxRigidActorExt::createExclusiveShape()

virtual PX_DEPRECATED PxShape* PxRigidActor::createShape	(	const PxGeometry &	geometry,
		PxMaterial *const *	materials,
		PxU16	materialCount,
		PxShapeFlags	shapeFlags = PxShapeFlag::eVISUALIZATION|PxShapeFlag::eSCENE_QUERY_SHAPE|PxShapeFlag::eSIMULATION_SHAPE
	)			[pure virtual]

Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.

This is equivalent to the following

PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1 actor->attachShape(shape); // increments reference count shape->release(); // releases user reference, leaving reference count at 1

As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.

Note:

The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see PxShapeFlag). Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for non-kinematic PxRigidDynamic instances.

Creating compounds with a very large number of shapes may adversely affect performance and stability.

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]	geometry	the geometry of the shape
[in]	materials	a pointer to an array of material pointers
[in]	materialCount	the count of materials
[in]	shapeFlags	optional PxShapeFlags

Returns:

The newly created shape.

Note:

this method is deprecated, please use PxPhysics::createShape() and PxRigidActor::attachShape() or PxRigidActorExt::createExclusiveShape()

See also:

PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape(), PxRigidActorExt::createExclusiveShape()

virtual void PxRigidActor::detachShape	(	PxShape &	shape,
		bool	wakeOnLostTouch = true
	)			[pure virtual]

detach a shape from an actor.

This will also decrement the reference count of the PxShape, and if the reference count is zero, will cause it to be deleted.

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]	shape	the shape to detach.
[in]	wakeOnLostTouch	Specifies whether touching objects from the previous frame should get woken up in the next frame. Only applies to PxArticulation and PxRigidActor types.

virtual PxU32 PxRigidActor::getConstraints	(	PxConstraint **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = 0
	)			const [pure virtual]

Retrieve all the constraint shader pointers belonging to the actor.

You can retrieve the number of constraint shader pointers by calling getNbConstraints()

Note: Removing constraint shaders with PxConstraint::release() will invalidate the pointer of the released constraint.

Parameters:

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

Returns:

Number of constraint shader pointers written to the buffer.

See also:

PxConstraint getNbConstraints() PxConstraint::release()

virtual PxTransform PxRigidActor::getGlobalPose

(

)

const [pure virtual]

Retrieves the actors world space transform.

The getGlobalPose() method retrieves the actor's current actor space to world space transformation.

Returns:

Global pose of object.

See also:

PxRigidDynamic.setGlobalPose() PxRigidStatic.setGlobalPose()

Referenced by PxShapeExt::getGlobalPose().

virtual PxU32 PxRigidActor::getNbConstraints

(

)

const [pure virtual]

Returns the number of constraint shaders attached to the actor.

You can use getConstraints() to retrieve the constraint shader pointers.

Returns:

Number of constraint shaders attached to this actor.

See also:

PxConstraint getConstraints()

virtual PxU32 PxRigidActor::getNbShapes

(

)

const [pure virtual]

Returns the number of shapes assigned to the actor.

You can use getShapes() to retrieve the shape pointers.

Returns:

Number of shapes associated with this actor.

See also:

PxShape getShapes()

virtual PxU32 PxRigidActor::getShapes	(	PxShape **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = 0
	)			const [pure virtual]

Retrieve all the shape pointers belonging to the actor.

These are the shapes used by the actor for collision detection.

You can retrieve the number of shape pointers by calling getNbShapes()

Note: Removing shapes with PxShape::release() will invalidate the pointer of the released shape.

Parameters:

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

Returns:

Number of shape pointers written to the buffer.

See also:

PxShape getNbShapes() PxShape::release()

virtual bool PxRigidActor::isKindOf

(

const char *

superClass

)

const [inline, protected, virtual]

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

Reimplemented from PxActor.

Reimplemented in PxArticulationLink, PxRigidBody, PxRigidDynamic, and PxRigidStatic.

References PxActor::isKindOf().

Referenced by PxRigidStatic::isKindOf(), and PxRigidBody::isKindOf().

virtual void PxRigidActor::release

(

)

[pure virtual]

Deletes the rigid actor object.

Also releases any shapes associated with the actor.

Releasing an actor will affect any objects that are connected to the actor (constraint shaders like joints etc.). Such connected objects will be deleted upon scene deletion, or explicitly by the user by calling release() on these objects. It is recommended to always remove all objects that reference actors before the actors themselves are removed. It is not possible to retrieve list of dead connected objects.

Sleeping: This call will awaken any sleeping actors contacting the deleted actor (directly or indirectly).

Calls PxActor::release() so you might want to check the documentation of that method as well.

See also:

PxActor::release()

Implements PxActor.

Implemented in PxArticulationLink.

virtual void PxRigidActor::setGlobalPose	(	const PxTransform &	pose,
		bool	autowake = true
	)			[pure virtual]

Method for setting an actor's pose in the world.

This method instantaneously changes the actor space to world space transformation.

This method is mainly for dynamic rigid bodies (see PxRigidDynamic). Calling this method on static actors is likely to result in a performance penalty, since internal optimization structures for static actors may need to be recomputed. In addition, moving static actors will not interact correctly with dynamic actors or joints.

To directly control an actor's position and have it correctly interact with dynamic bodies and joints, create a dynamic body with the PxRigidBodyFlag::eKINEMATIC flag, then use the setKinematicTarget() commands to define its path.

Even when moving dynamic actors, exercise restraint in making use of this method. Where possible, avoid:

• moving actors into other actors, thus causing overlap (an invalid physical state)

• moving an actor that is connected by a joint to another away from the other (thus causing joint error)

Sleeping: This call wakes dynamic actors if they are sleeping and the autowake parameter is true (default).

Parameters:

[in]	pose	Transformation from the actors local frame to the global frame. Range: rigid body transform.
[in]	autowake	whether to wake the object if it is dynamic. This parameter has no effect for static or kinematic actors. If true and the current wake counter value is smaller than PxSceneDesc::wakeCounterResetValue it will get increased to the reset value.

See also:

getGlobalPose()

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

• PxRigidActor.h