Applies a force (or impulse) defined in the global coordinate frame to the actor.

This will not induce a torque.

PxForceMode determines if the force is to be conventional or impulsive.

Note:

The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links

Parameters:

[in]	force	Force/Impulse to apply defined in the global frame. Range: force vector
[in]	mode	The mode to use when applying the force/impulse(see PxForceMode)
[in]	autowake	Specify if the call should wake up the actor if it is currently asleep.

See also:

PxForceMode addTorque

Applies an impulsive torque defined in the global coordinate frame to the actor.

PxForceMode determines if the torque is to be conventional or impulsive.

Note:

The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links

Parameters:

[in]	torque	Torque to apply defined in the global frame. Range: torque vector
[in]	mode	The mode to use when applying the force/impulse(see PxForceMode).
[in]	autowake	whether to wake up the object if it is asleep

See also:

PxForceMode addForce()

Clears the accumulated forces (sets the accumulated force back to zero).

PxForceMode determines if the cleared force is to be conventional or impulsive.

Note:

The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links

Parameters:

[in]	mode	The mode to use when clearing the force/impulse(see PxForceMode)
[in]	autowake	Specify if the call should wake up the actor if it is currently asleep.

See also:

PxForceMode addForce

Clears the impulsive torque defined in the global coordinate frame to the actor.

PxForceMode determines if the cleared torque is to be conventional or impulsive.

Note:

The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links

Parameters:

[in]	mode	The mode to use when clearing the force/impulse(see PxForceMode).
[in]	autowake	whether to wake up the object if it is asleep

See also:

PxForceMode addTorque

Retrieves the angular velocity of the actor.

Returns:

The angular velocity of the actor.

See also:

PxRigidDynamic.setAngularVelocity() getLinearVelocity()

Retrieves the center of mass pose relative to the actor frame.

Returns:

The center of mass pose relative to the actor frame.

See also:

setCMassLocalPose() PxRigidBodyDesc.massLocalPose

Retrieves the linear velocity of an actor.

Returns:

The linear velocity of the actor.

See also:

PxRigidDynamic.setLinearVelocity() getAngularVelocity()

Retrieves the mass of the actor.

Returns:

The mass of this actor.

See also:

setMass() PxRigidBodyDesc.mass setMassSpaceInertiaTensor()

Retrieves the diagonal inertia tensor of the actor relative to the mass coordinate frame.

This method retrieves a mass frame inertia vector.

Returns:

The mass space inertia tensor of this actor.

See also:

PxRigidBodyDesc.massSpaceInertia setMassSpaceInertiaTensor() setMass() setCMassLocalPose()

Reimplemented from PxRigidActor.

Reimplemented in PxArticulationLink, and PxRigidDynamic.

References PxRigidActor::isKindOf().

Referenced by PxRigidDynamic::isKindOf(), and PxArticulationLink::isKindOf().

Sets the angular velocity of the actor.

Note that if you continuously set the angular velocity of an actor yourself, forces such as friction will not be able to rotate the actor, because forces directly influence only the velocity/momentum.

Default: (0.0, 0.0, 0.0)

Sleeping: This call wakes the actor if it is sleeping, the autowake parameter is true (default), and the new velocity is non-zero

Parameters:

[in]	angVel	New angular velocity of actor. Range: angular velocity vector
[in]	autowake	Whether to wake the object up if it is asleep and the velocity is non-zero

See also:

getAngularVelocity() setLinearVelocity()

Sets the pose of the center of mass relative to the actor.

Note:

Changing this transform will not move the actor in the world!

Setting an unrealistic center of mass which is a long way from the body can make it difficult for the SDK to solve constraints. Perhaps leading to instability and jittering bodies.

Sleeping: This call wakes the actor if it is sleeping.

Parameters:

[in]

pose

Mass frame offset transform relative to the actor frame. Range: rigid body transform.

See also:

getCMassLocalPose() PxRigidBodyDesc.massLocalPose

Sets the linear velocity of the actor.

Note that if you continuously set the velocity of an actor yourself, forces such as gravity or friction will not be able to manifest themselves, because forces directly influence only the velocity/momentum of an actor.

Default: (0.0, 0.0, 0.0)

Sleeping: This call wakes the actor if it is sleeping, the autowake parameter is true (default), and the new velocity is non-zero

Parameters:

[in]	linVel	New linear velocity of actor. Range: velocity vector
[in]	autowake	Whether to wake the object up if it is asleep and the velocity is non-zero

See also:

getLinearVelocity() setAngularVelocity()

Sets the mass of a dynamic actor.

The mass must be positive.

setMass() does not update the inertial properties of the body, to change the inertia tensor use setMassSpaceInertiaTensor() or the PhysX extensions method PxRigidBodyExt::updateMassAndInertia().

Default: 1.0

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]

mass

New mass value for the actor. Range: (0,inf)

See also:

getMass() PxRigidBodyDesc.mass setMassSpaceInertiaTensor()

Sets the inertia tensor, using a parameter specified in mass space coordinates.

Note that such matrices are diagonal -- the passed vector is the diagonal.

If you have a non diagonal world/actor space inertia tensor(3x3 matrix). Then you need to diagonalize it and set an appropriate mass space transform. See setCMassLocalPose().

Default: (1.0, 1.0, 1.0)

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]

m

New mass space inertia tensor for the actor. Range: inertia vector

See also:

PxRigidBodyDesc.massSpaceInertia getMassSpaceInertia() setMass() setCMassLocalPose()