NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxShape Class Reference

NVIDIA PhysX SDK 3.4 API

PxShape Class Reference
[Physics]

Abstract class for collision shapes. More...

#include <PxShape.h>

Inheritance diagram for PxShape:
Collaboration diagram for PxShape:

List of all members.


Public Member Functions

virtual void release ()=0
 Decrements the reference count of a shape and releases it if the new reference count is zero.
virtual void acquireReference ()=0
 Acquires a counted reference to a shape.
virtual PxGeometryType::Enum getGeometryType () const =0
 Get the geometry type of the shape.
virtual void setGeometry (const PxGeometry &geometry)=0
 Adjust the geometry of the shape.
virtual PxGeometryHolder getGeometry () const =0
 Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.
virtual bool getBoxGeometry (PxBoxGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getSphereGeometry (PxSphereGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getCapsuleGeometry (PxCapsuleGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getPlaneGeometry (PxPlaneGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getConvexMeshGeometry (PxConvexMeshGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getTriangleMeshGeometry (PxTriangleMeshGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual bool getHeightFieldGeometry (PxHeightFieldGeometry &geometry) const =0
 Fetch the geometry of the shape.
virtual PxRigidActorgetActor () const =0
 Retrieves the actor which this shape is associated with.
virtual void setMaterials (PxMaterial *const *materials, PxU16 materialCount)=0
 Assigns material(s) to the shape.
virtual PxU16 getNbMaterials () const =0
 Returns the number of materials assigned to the shape.
virtual PxU32 getMaterials (PxMaterial **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
 Retrieve all the material pointers associated with the shape.
virtual PxMaterialgetMaterialFromInternalFaceIndex (PxU32 faceIndex) const =0
 Retrieve material from given triangle index.
virtual void setContactOffset (PxReal contactOffset)=0
 Sets the contact offset.
virtual PxReal getContactOffset () const =0
 Retrieves the contact offset.
virtual void setRestOffset (PxReal restOffset)=0
 Sets the rest offset.
virtual PxReal getRestOffset () const =0
 Retrieves the rest offset.
virtual void setFlag (PxShapeFlag::Enum flag, bool value)=0
 Sets shape flags.
virtual void setFlags (PxShapeFlags inFlags)=0
 Sets shape flags.
virtual PxShapeFlags getFlags () const =0
 Retrieves shape flags.
virtual bool isExclusive () const =0
 Returns true if the shape is exclusive to an actor.
virtual void setName (const char *name)=0
 Sets a name string for the object that can be retrieved with getName().
virtual const char * getName () const =0
 retrieves the name string set with setName().
virtual const char * getConcreteTypeName () const
 Returns string name of dynamic type.
Pose Manipulation
virtual void setLocalPose (const PxTransform &pose)=0
 Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached.
virtual PxTransform getLocalPose () const =0
 Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by.
Collision Filtering
virtual void setSimulationFilterData (const PxFilterData &data)=0
 Sets the user definable collision filter data.
virtual PxFilterData getSimulationFilterData () const =0
 Retrieves the shape's collision filter data.
virtual void setQueryFilterData (const PxFilterData &data)=0
 Sets the user definable query filter data.
virtual PxFilterData getQueryFilterData () const =0
 Retrieves the shape's Query filter data.

Public Attributes

void * userData
 user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Member Functions

PX_INLINE PxShape (PxBaseFlags baseFlags)
PX_INLINE PxShape (PxType concreteType, PxBaseFlags baseFlags)
virtual ~PxShape ()
virtual bool isKindOf (const char *name) const
 Returns whether a given type name matches with the type of this instance.

Detailed Description

Abstract class for collision shapes.

Shapes are shared, reference counted objects.

An instance can be created by calling the createShape() method of the PxRigidActor class, or the createShape() method of the PxPhysics class.

Visualizations

See also:
PxPhysics.createShape() PxRigidActor.createShape() PxBoxGeometry PxSphereGeometry PxCapsuleGeometry PxPlaneGeometry PxConvexMeshGeometry PxTriangleMeshGeometry PxHeightFieldGeometry

Constructor & Destructor Documentation

PX_INLINE PxShape::PxShape ( PxBaseFlags  baseFlags  )  [inline, protected]

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

virtual PxShape::~PxShape (  )  [inline, protected, virtual]


Member Function Documentation

virtual void PxShape::acquireReference (  )  [pure virtual]

Acquires a counted reference to a shape.

This method increases the reference count of the shape by 1. Decrement the reference count by calling release()

virtual PxRigidActor* PxShape::getActor (  )  const [pure virtual]

Retrieves the actor which this shape is associated with.

Returns:
The actor this shape is associated with, if it is an exclusive shape, else NULL
See also:
PxRigidStatic, PxRigidDynamic, PxArticulationLink

virtual bool PxShape::getBoxGeometry ( PxBoxGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual bool PxShape::getCapsuleGeometry ( PxCapsuleGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual const char* PxShape::getConcreteTypeName (  )  const [inline, virtual]

Returns string name of dynamic type.

Returns:
Class name of most derived type of this object.

Implements PxBase.

virtual PxReal PxShape::getContactOffset (  )  const [pure virtual]

Retrieves the contact offset.

Returns:
The contact offset of the shape.
See also:
setContactOffset()

virtual bool PxShape::getConvexMeshGeometry ( PxConvexMeshGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual PxShapeFlags PxShape::getFlags (  )  const [pure virtual]

Retrieves shape flags.

Returns:
The values of the shape flags.
See also:
PxShapeFlag setFlag()

virtual PxGeometryHolder PxShape::getGeometry (  )  const [pure virtual]

Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.

Returns:
a PxGeometryHolder object containing the geometry;
See also:
PxGeometry PxGeometryType getGeometryType() setGeometry()

Referenced by PxShapeExt::getWorldBounds(), PxShapeExt::overlap(), PxShapeExt::raycast(), and PxShapeExt::sweep().

virtual PxGeometryType::Enum PxShape::getGeometryType (  )  const [pure virtual]

Get the geometry type of the shape.

Returns:
Type of shape geometry.
See also:
PxGeometryType

virtual bool PxShape::getHeightFieldGeometry ( PxHeightFieldGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual PxTransform PxShape::getLocalPose (  )  const [pure virtual]

Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by.

This transformation is identity by default.

Returns:
Pose of shape relative to the actor's frame.
See also:
setLocalPose()

Referenced by PxShapeExt::getGlobalPose().

virtual PxMaterial* PxShape::getMaterialFromInternalFaceIndex ( PxU32  faceIndex  )  const [pure virtual]

Retrieve material from given triangle index.

The input index is the internal triangle index as used inside the SDK. This is the index returned to users by various SDK functions such as raycasts.

This function is only useful for triangle meshes or heightfields, which have per-triangle materials. For other shapes the function returns the single material associated with the shape, regardless of the index.

Parameters:
[in] faceIndex The internal triangle index whose material you want to retrieve.
Returns:
Material from input triangle
Note:
If faceIndex value of 0xFFFFffff is passed as an input for mesh and heightfield shapes, this function will issue a warning and return NULL.

Scene queries set the value of PxQueryHit::faceIndex to 0xFFFFffff whenever it is undefined or does not apply.

See also:
PxMaterial getNbMaterials() PxMaterial::release()

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

Retrieve all the material pointers associated with the shape.

You can retrieve the number of material pointers by calling getNbMaterials()

Note: Removing materials with PxMaterial::release() will invalidate the pointer of the released material.

Parameters:
[out] userBuffer The buffer to store the material pointers.
[in] bufferSize Size of provided user buffer.
[in] startIndex Index of first material pointer to be retrieved
Returns:
Number of material pointers written to the buffer.
See also:
PxMaterial getNbMaterials() PxMaterial::release()

virtual const char* PxShape::getName (  )  const [pure virtual]

retrieves the name string set with setName().

Returns:
The name associated with the shape.
See also:
setName()

virtual PxU16 PxShape::getNbMaterials (  )  const [pure virtual]

Returns the number of materials assigned to the shape.

You can use getMaterials() to retrieve the material pointers.

Returns:
Number of materials associated with this shape.
See also:
PxMaterial getMaterials()

virtual bool PxShape::getPlaneGeometry ( PxPlaneGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual PxFilterData PxShape::getQueryFilterData (  )  const [pure virtual]

Retrieves the shape's Query filter data.

See also:
setQueryFilterData()

virtual PxReal PxShape::getRestOffset (  )  const [pure virtual]

Retrieves the rest offset.

Returns:
The rest offset of the shape.
See also:
setRestOffset()

virtual PxFilterData PxShape::getSimulationFilterData (  )  const [pure virtual]

Retrieves the shape's collision filter data.

See also:
setSimulationFilterData()

virtual bool PxShape::getSphereGeometry ( PxSphereGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual bool PxShape::getTriangleMeshGeometry ( PxTriangleMeshGeometry geometry  )  const [pure virtual]

Fetch the geometry of the shape.

Note:
If the type of geometry to extract does not match the geometry type of the shape then the method will return false and the passed in geometry descriptor is not modified.
Parameters:
[in] geometry The descriptor to save the shape's geometry data to.
Returns:
True on success else false
See also:
PxGeometry PxGeometryType getGeometryType()

virtual bool PxShape::isExclusive (  )  const [pure virtual]

Returns true if the shape is exclusive to an actor.

See also:
PxPhysics::createShape()

virtual bool PxShape::isKindOf ( const char *  superClass  )  const [inline, protected, virtual]

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

Reimplemented from PxBase.

References PxBase::isKindOf().

virtual void PxShape::release (  )  [pure virtual]

Decrements the reference count of a shape and releases it if the new reference count is zero.

Note that in releases prior to PhysX 3.3 this method did not have reference counting semantics and was used to destroy a shape created with PxActor::createShape(). In PhysX 3.3 and above, this usage is deprecated, instead, use PxRigidActor::detachShape() to detach a shape from an actor. If the shape to be detached was created with PxActor::createShape(), the actor holds the only counted reference, and so when the shape is detached it will also be destroyed.

See also:
PxRigidActor::createShape() PxPhysics::createShape() PxRigidActor::attachShape() PxRigidActor::detachShape()

Implements PxBase.

Referenced by PxRigidActorExt::createExclusiveShape().

virtual void PxShape::setContactOffset ( PxReal  contactOffset  )  [pure virtual]

Sets the contact offset.

Shapes whose distance is less than the sum of their contactOffset values will generate contacts. The contact offset must be positive and greater than the rest offset. Having a contactOffset greater than than the restOffset allows the collision detection system to predictively enforce the contact constraint even when the objects are slightly separated. This prevents jitter that would occur if the constraint were enforced only when shapes were within the rest distance.

Default: 0.02f * PxTolerancesScale::length

Sleeping: Does NOT wake the associated actor up automatically.

Parameters:
[in] contactOffset Range: [maximum(0,restOffset), PX_MAX_F32)
See also:
getContactOffset PxTolerancesScale setRestOffset

virtual void PxShape::setFlag ( PxShapeFlag::Enum  flag,
bool  value 
) [pure virtual]

Sets shape flags.

Sleeping: Does NOT wake the associated actor up automatically.

Parameters:
[in] flag The shape flag to enable/disable. See PxShapeFlag.
[in] value True to set the flag. False to clear the flag specified in flag.
Default: PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eSCENE_QUERY_SHAPE

See also:
PxShapeFlag getFlags()

virtual void PxShape::setFlags ( PxShapeFlags  inFlags  )  [pure virtual]

Sets shape flags.

See also:
PxShapeFlag getFlags()

virtual void PxShape::setGeometry ( const PxGeometry geometry  )  [pure virtual]

Adjust the geometry of the shape.

Note:
The type of the passed in geometry must match the geometry type of the shape.

It is not allowed to change the geometry type of a shape.

This function does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.

Parameters:
[in] geometry New geometry of the shape.
See also:
PxGeometry PxGeometryType getGeometryType()

virtual void PxShape::setLocalPose ( const PxTransform pose  )  [pure virtual]

Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached.

This transformation is identity by default.

The local pose is an attribute of the shape, and so will apply to all actors to which the shape is attached.

Sleeping: Does NOT wake the associated actor up automatically.

Note: Does not automatically update the inertia properties of the owning actor (if applicable); use the PhysX extensions method PxRigidBodyExt::updateMassAndInertia() to do this.

Default: the identity transform

Parameters:
[in] pose The new transform from the actor frame to the shape frame. Range: rigid body transform
See also:
getLocalPose()

virtual void PxShape::setMaterials ( PxMaterial *const *  materials,
PxU16  materialCount 
) [pure virtual]

Assigns material(s) to the shape.

Sleeping: Does NOT wake the associated actor up automatically.

Parameters:
[in] materials List of material pointers to assign to the shape. See PxMaterial
[in] materialCount The number of materials provided.
See also:
PxPhysics.createMaterial() getMaterials()

virtual void PxShape::setName ( const char *  name  )  [pure virtual]

Sets a name string for the object that can be retrieved with getName().

This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.

Default: NULL

Parameters:
[in] name The name string to set the objects name to.
See also:
getName()

virtual void PxShape::setQueryFilterData ( const PxFilterData data  )  [pure virtual]

Sets the user definable query filter data.

Default: (0,0,0,0)

See also:
getQueryFilterData()

virtual void PxShape::setRestOffset ( PxReal  restOffset  )  [pure virtual]

Sets the rest offset.

Two shapes will come to rest at a distance equal to the sum of their restOffset values. If the restOffset is 0, they should converge to touching exactly. Having a restOffset greater than zero is useful to have objects slide smoothly, so that they do not get hung up on irregularities of each others' surfaces.

Default: 0.0f

Sleeping: Does NOT wake the associated actor up automatically.

Parameters:
[in] restOffset Range: (-PX_MAX_F32, contactOffset)
See also:
getRestOffset setContactOffset

virtual void PxShape::setSimulationFilterData ( const PxFilterData data  )  [pure virtual]

Sets the user definable collision filter data.

Sleeping: Does wake up the actor if the filter data change causes a formerly suppressed collision pair to be enabled.

Default: (0,0,0,0)

See also:
getSimulationFilterData()


Member Data Documentation

user can assign this to whatever, usually to create a 1:1 relationship with a user object.


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



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