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

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.

The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see PxShapeFlag). The only exception are triangle mesh, heightfield or plane geometry shapes if the actor is not a PxRigidStatic. In these cases the eSIMULATION_SHAPE flag is omitted.

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

Parameters:

[in]	geometry	the geometry of the shape.
[in]	material	the material for the shape
[in]	localPose	optional actor-relative pose of the shape

Returns:

The newly created shape.

See also:

PxShape PxShape::release()

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

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.

The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see PxShapeFlag). The only exception are triangle mesh, heightfield or plane geometry shapes if the actor is not a PxRigidStatic. In these cases the eSIMULATION_SHAPE flag is omitted.

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

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]	localPose	optional actor-relative pose of the shape

Returns:

The newly created shape.

See also:

PxShape PxShape::release()

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()

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().

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()

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()

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()

Reimplemented from PxActor.

Reimplemented in PxArticulationLink, PxRigidBody, PxRigidDynamic, and PxRigidStatic.

References PxActor::isKindOf().

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

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.

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, and PxRigidStatic.

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 PxRigidDynamicFlag::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 interpenetration (an invalid physical state)

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

Parameters:

[in]	pose	Transformation from the actors local frame to the global frame. Range: rigid body transform.
[in]	wake	whether to wake the object if it is dynamic. This parameter has no effect for static actors

See also:

getGlobalPose()