PxRigidBodyExt Class Reference
[Extensions]

utility functions for use with PxRigidBody and subclasses More...

#include <PxRigidBodyExt.h>


Static Public Member Functions
static bool	updateMassAndInertia (PxRigidBody &body, const PxReal shapeDensities, PxU32 shapeDensityCount, const PxVec3 massLocalPose=NULL)
	Computation of mass properties for a rigid body actor.
static bool	updateMassAndInertia (PxRigidBody &body, PxReal density, const PxVec3 *massLocalPose=NULL)
	Computation of mass properties for a rigid body actor.
static bool	setMassAndUpdateInertia (PxRigidBody &body, const PxReal shapeMasses, PxU32 shapeMassCount, const PxVec3 massLocalPose=NULL)
	Computation of mass properties for a rigid body actor.
static bool	setMassAndUpdateInertia (PxRigidBody &body, PxReal mass, const PxVec3 *massLocalPose=NULL)
	Computation of mass properties for a rigid body actor.
static void	addForceAtPos (PxRigidBody &body, const PxVec3 &force, const PxVec3 &pos, PxForceMode::Enum mode=PxForceMode::eFORCE, bool wakeup=true)
	Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in global coordinates, to the actor.
static void	addForceAtLocalPos (PxRigidBody &body, const PxVec3 &force, const PxVec3 &pos, PxForceMode::Enum mode=PxForceMode::eFORCE, bool wakeup=true)
	Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in local coordinates, to the actor.
static void	addLocalForceAtPos (PxRigidBody &body, const PxVec3 &force, const PxVec3 &pos, PxForceMode::Enum mode=PxForceMode::eFORCE, bool wakeup=true)
	Applies a force (or impulse) defined in the actor local coordinate frame, acting at a particular point in global coordinates, to the actor.
static void	addLocalForceAtLocalPos (PxRigidBody &body, const PxVec3 &force, const PxVec3 &pos, PxForceMode::Enum mode=PxForceMode::eFORCE, bool wakeup=true)
	Applies a force (or impulse) defined in the actor local coordinate frame, acting at a particular point in local coordinates, to the actor.
static PxVec3	getVelocityAtPos (const PxRigidBody &body, const PxVec3 &pos)
	Computes the velocity of a point given in world coordinates if it were attached to the specified body and moving with it.
static PxVec3	getLocalVelocityAtLocalPos (const PxRigidBody &body, const PxVec3 &pos)
	Computes the velocity of a point given in local coordinates if it were attached to the specified body and moving with it.
static PxVec3	getVelocityAtOffset (const PxRigidBody &body, const PxVec3 &pos)
	Computes the velocity of a point (offset from the origin of the body) given in world coordinates if it were attached to the specified body and moving with it.
static void	linearSweepSingle (PxRigidBody &body, PxBatchQuery &batchQuery, const PxVec3 &unitDir, const PxReal distance, PxSceneQueryFilterFlags filterFlags, bool useShapeFilterData=true, PxFilterData filterDataList=NULL, PxU32 filterDataCount=0, void userData=NULL, const PxSweepCache *sweepCache=NULL)
	Performs a linear sweep through space with the body's geometry objects.
static void	linearSweepMultiple (PxRigidBody &body, PxBatchQuery &batchQuery, const PxVec3 &unitDir, const PxReal distance, PxSceneQueryFilterFlags filterFlags, bool useShapeFilterData=true, PxFilterData filterDataList=NULL, PxU32 filterDataCount=0, void userData=NULL, const PxSweepCache *sweepCache=NULL)
	Performs a linear sweep through space with the body's geometry objects, returning all overlaps.

Detailed Description

utility functions for use with PxRigidBody and subclasses

See also:: PxRigidBody PxRigidDynamic PxArticulationLink

Member Function Documentation

static void PxRigidBodyExt::addForceAtLocalPos	(	PxRigidBody &	body,
		const PxVec3 &	force,
		const PxVec3 &	pos,
		PxForceMode::Enum	mode = `PxForceMode::eFORCE`,
		bool	wakeup = `true`
	)			`[static]`

Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in local coordinates, to the actor.

Note that if the force does not act along the center of mass of the actor, this will also add the corresponding torque. Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame.

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

Sleeping: This call wakes the actor if it is sleeping and the wakeup parameter is true (default).

Parameters:

`[in]`	body	The rigid body to apply the force to.
`[in]`	force	Force/impulse to add, defined in the global frame. Range: force vector
`[in]`	pos	Position in the local frame to add the force at. Range: position vector
`[in]`	mode	The mode to use when applying the force/impulse(see PxForceMode). Only eFORCE and eIMPULSE are supported.
`[in]`	wakeup	Specify if the call should wake up the actor.

See also:: PxForceMode
addForceAtPos() addLocalForceAtPos() addLocalForceAtLocalPos()

static void PxRigidBodyExt::addForceAtPos	(	PxRigidBody &	body,
		const PxVec3 &	force,
		const PxVec3 &	pos,
		PxForceMode::Enum	mode = `PxForceMode::eFORCE`,
		bool	wakeup = `true`
	)			`[static]`

Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in global coordinates, to the actor.

Note that if the force does not act along the center of mass of the actor, this will also add the corresponding torque. Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame.

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

Sleeping: This call wakes the actor if it is sleeping and the wakeup parameter is true (default).

Parameters:

`[in]`	body	The rigid body to apply the force to.
`[in]`	force	Force/impulse to add, defined in the global frame. Range: force vector
`[in]`	pos	Position in the global frame to add the force at. Range: position vector
`[in]`	mode	The mode to use when applying the force/impulse(see PxForceMode). Only eFORCE and eIMPULSE are supported.
`[in]`	wakeup	Specify if the call should wake up the actor.

See also:: PxForceMode
addForceAtLocalPos() addLocalForceAtPos() addLocalForceAtLocalPos()

static void PxRigidBodyExt::addLocalForceAtLocalPos	(	PxRigidBody &	body,
		const PxVec3 &	force,
		const PxVec3 &	pos,
		PxForceMode::Enum	mode = `PxForceMode::eFORCE`,
		bool	wakeup = `true`
	)			`[static]`

Applies a force (or impulse) defined in the actor local coordinate frame, acting at a particular point in local coordinates, to the actor.

Note that if the force does not act along the center of mass of the actor, this will also add the corresponding torque. Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame.

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

Sleeping: This call wakes the actor if it is sleeping and the wakeup parameter is true (default).

Parameters:

`[in]`	body	The rigid body to apply the force to.
`[in]`	force	Force/impulse to add, defined in the local frame. Range: force vector
`[in]`	pos	Position in the local frame to add the force at. Range: position vector
`[in]`	mode	The mode to use when applying the force/impulse(see PxForceMode). Only eFORCE and eIMPULSE are supported.
`[in]`	wakeup	Specify if the call should wake up the actor.

See also:: PxForceMode
addForceAtPos() addForceAtLocalPos() addLocalForceAtPos()

static void PxRigidBodyExt::addLocalForceAtPos	(	PxRigidBody &	body,
		const PxVec3 &	force,
		const PxVec3 &	pos,
		PxForceMode::Enum	mode = `PxForceMode::eFORCE`,
		bool	wakeup = `true`
	)			`[static]`

Applies a force (or impulse) defined in the actor local coordinate frame, acting at a particular point in global coordinates, to the actor.

Note that if the force does not act along the center of mass of the actor, this will also add the corresponding torque. Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame.

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

Sleeping: This call wakes the actor if it is sleeping and the wakeup parameter is true (default).

Parameters:

`[in]`	body	The rigid body to apply the force to.
`[in]`	force	Force/impulse to add, defined in the local frame. Range: force vector
`[in]`	pos	Position in the global frame to add the force at. Range: position vector
`[in]`	mode	The mode to use when applying the force/impulse(see PxForceMode). Only eFORCE and eIMPULSE are supported.
`[in]`	wakeup	Specify if the call should wake up the actor.

See also:: PxForceMode
addForceAtPos() addForceAtLocalPos() addLocalForceAtLocalPos()

static PxVec3 PxRigidBodyExt::getLocalVelocityAtLocalPos	(	const PxRigidBody &	body,
		const PxVec3 &	pos
	)			`[static]`

Computes the velocity of a point given in local coordinates if it were attached to the specified body and moving with it.

Parameters:

`[in]`	body	The rigid body the point is attached to.
`[in]`	pos	Position we wish to determine the velocity for, defined in the local frame. Range: position vector

Returns:: The velocity of point in the local frame.

See also:: getLocalPointVelocity()

static PxVec3 PxRigidBodyExt::getVelocityAtOffset	(	const PxRigidBody &	body,
		const PxVec3 &	pos
	)			`[static]`

Computes the velocity of a point (offset from the origin of the body) given in world coordinates if it were attached to the specified body and moving with it.

Parameters:

`[in]`	body	The rigid body the point is attached to.
`[in]`	pos	Position (offset from the origin of the body) we wish to determine the velocity for, defined in the global frame. Range: position vector

Returns:: The velocity of point (offset from the origin of the body) in the global frame.

See also:: getLocalPointVelocity()

static PxVec3 PxRigidBodyExt::getVelocityAtPos	(	const PxRigidBody &	body,
		const PxVec3 &	pos
	)			`[static]`

Computes the velocity of a point given in world coordinates if it were attached to the specified body and moving with it.

Parameters:

`[in]`	body	The rigid body the point is attached to.
`[in]`	pos	Position we wish to determine the velocity for, defined in the global frame. Range: position vector

Returns:: The velocity of point in the global frame.

See also:: getLocalPointVelocity()

static void PxRigidBodyExt::linearSweepMultiple	(	PxRigidBody &	body,
		PxBatchQuery &	batchQuery,
		const PxVec3 &	unitDir,
		const PxReal	distance,
		PxSceneQueryFilterFlags	filterFlags,
		bool	useShapeFilterData = `true`,
		PxFilterData *	filterDataList = `NULL`,
		PxU32	filterDataCount = `0`,
		void *	userData = `NULL`,
		const PxSweepCache *	sweepCache = `NULL`
	)			`[static]`

Performs a linear sweep through space with the body's geometry objects, returning all overlaps.

Note:: Supported geometries are: PxBoxGeometry, PxSphereGeometry, PxCapsuleGeometry. Other geometry types will be ignored.
Internally this call is mapped to PxBatchQuery::linearCompoundGeometrySweepMultiple().

The function sweeps all geometry objects of the body through space and reports all objects in the scene which intersect. Apart from the number of objects intersected in this way, and the objects intersected, information on the closest intersection is put in an PxSweepHit structure which can be processed in the callback. See PxSweepHit.

Parameters:

`[in]`	body	The rigid body to sweep.
`[in]`	batchQuery	The scene query object to process the query.
`[in]`	unitDir	Normalized direction of the sweep.
`[in]`	distance	Sweep distance. Needs to be larger than 0.
`[in]`	filterFlags	Choose if to sweep against static, dynamic or both types of objects, or other filter logic. See PxSceneQueryFilterFlags.
`[in]`	useShapeFilterData	True if the filter data of the body shapes should be used for the query. False if no filtering is needed or separate filter data is provided.
`[in]`	filterDataList	Custom filter data to use for each geometry object of the body. Only considered if useShapeFilterData is false.
`[in]`	filterDataCount	Number of filter data entries
`[in]`	userData	user can assign this to a value of his choice, usually to identify this particular query
`[in]`	sweepCache	Sweep cache to use with the query

Returns:: returns the all overlapping objects.

See also:: PxBatchQuery PxBatchQuery::linearCompoundGeometrySweepMultiple PxSceneQueryFilterFlags PxFilterData PxBatchQueryPreFilterShader PxBatchQueryPostFilterShader PxSweepHit

static void PxRigidBodyExt::linearSweepSingle	(	PxRigidBody &	body,
		PxBatchQuery &	batchQuery,
		const PxVec3 &	unitDir,
		const PxReal	distance,
		PxSceneQueryFilterFlags	filterFlags,
		bool	useShapeFilterData = `true`,
		PxFilterData *	filterDataList = `NULL`,
		PxU32	filterDataCount = `0`,
		void *	userData = `NULL`,
		const PxSweepCache *	sweepCache = `NULL`
	)			`[static]`

Performs a linear sweep through space with the body's geometry objects.

Note:: Supported geometries are: PxBoxGeometry, PxSphereGeometry, PxCapsuleGeometry. Other geometry types will be ignored.
Internally this call is mapped to PxBatchQuery::linearCompoundGeometrySweepSingle().

The function sweeps all specified geometry objects through space and reports any objects in the scene which intersect. Apart from the number of objects intersected in this way, and the objects intersected, information on the closest intersection is put in an PxSweepHit structure which can be processed in the callback. See PxSweepHit.

Parameters:

`[in]`	body	The rigid body to sweep.
`[in]`	batchQuery	The scene query object to process the query.
`[in]`	unitDir	Normalized direction of the sweep.
`[in]`	distance	Sweep distance. Needs to be larger than 0.
`[in]`	filterFlags	Choose if to sweep against static, dynamic or both types of objects, or other filter logic. See PxSceneQueryFilterFlags.
`[in]`	useShapeFilterData	True if the filter data of the body shapes should be used for the query. False if no filtering is needed or separate filter data is provided.
`[in]`	filterDataList	Custom filter data to use for each geometry object of the body. Only considered if useShapeFilterData is false.
`[in]`	filterDataCount	Number of filter data entries
`[in]`	userData	user can assign this to a value of his choice, usually to identify this particular query
`[in]`	sweepCache	Sweep cache to use with the query

Returns:: returns the closest overlapping object.

See also:: PxBatchQuery PxBatchQuery::linearCompoundGeometrySweepSingle PxSceneQueryFilterFlags PxFilterData PxBatchQueryPreFilterShader PxBatchQueryPostFilterShader PxSweepHit

static bool PxRigidBodyExt::setMassAndUpdateInertia	(	PxRigidBody &	body,
		PxReal	mass,
		const PxVec3 *	massLocalPose = `NULL`
	)			`[static]`

Computation of mass properties for a rigid body actor.

This method sets the mass, inertia and center of mass of a rigid body. The mass is set to the user-supplied value, and the inertia and center of mass are computed according to the rigid body's shapes and the input mass.

If no collision shapes are found, the inertia tensor is set to (1,1,1)

See also:: updateMassAndInertia for more details.

Parameters:

`[in,out]`	body	The the rigid body for which to set the mass and centre of mass local pose properties.
`[in]`	mass	The mass of the body. Must be greater than 0.
`[in]`	massLocalPose	The center of mass relative to the actor frame. If set to null then (0,0,0) is assumed.

Returns:: Boolean. True on success else false.

See also:: PxRigidBody::setCMassLocalPose PxRigidBody::setMassSpaceInertia PxRigidBody::setMass

static bool PxRigidBodyExt::setMassAndUpdateInertia	(	PxRigidBody &	body,
		const PxReal *	shapeMasses,
		PxU32	shapeMassCount,
		const PxVec3 *	massLocalPose = `NULL`
	)			`[static]`

Computation of mass properties for a rigid body actor.

This method sets the mass, inertia and center of mass of a rigid body. The mass is set to the sum of all user-supplied shape mass values, and the inertia and center of mass are computed according to the rigid body's shapes and the per shape mass input values.

If no collision shapes are found, the inertia tensor is set to (1,1,1)

Note:: If a single mass value should be used for the actor as a whole then the overloaded method setMassAndUpdateInertia() with a single mass parameter can be used instead.

See also:: updateMassAndInertia for more details.

Parameters:

`[in,out]`	body	The the rigid body for which to set the mass and centre of mass local pose properties.
`[in]`	shapeMasses	The per shape mass values. There must be one entry for each shape which has the PxShapeFlag::eSIMULATION_SHAPE set. Other shapes are ignored. The mass values must be greater than 0.
`[in]`	shapeMassCount	The number of provided mass values.
`[in]`	massLocalPose	The center of mass relative to the actor frame. If set to null then (0,0,0) is assumed.

Returns:: Boolean. True on success else false.

See also:: PxRigidBody::setCMassLocalPose PxRigidBody::setMassSpaceInertia PxRigidBody::setMass

static bool PxRigidBodyExt::updateMassAndInertia	(	PxRigidBody &	body,
		PxReal	density,
		const PxVec3 *	massLocalPose = `NULL`
	)			`[static]`

Computation of mass properties for a rigid body actor.

See previous method for details.

Parameters:

`[in,out]`	body	The rigid body.
`[in]`	density	The density of the body. Used to compute the mass of the body. The density must be greater than 0.
`[in]`	massLocalPose	The center of mass relative to the actor frame. If set to null then (0,0,0) is assumed.

Returns:: Boolean. True on success else false.

See also:: PxRigidBody::setMassLocalPose PxRigidBody::setMassSpaceInertia PxRigidBody::setMass

static bool PxRigidBodyExt::updateMassAndInertia	(	PxRigidBody &	body,
		const PxReal *	shapeDensities,
		PxU32	shapeDensityCount,
		const PxVec3 *	massLocalPose = `NULL`
	)			`[static]`

Computation of mass properties for a rigid body actor.

To simulate a dynamic rigid actor, the SDK needs a mass and an inertia tensor.

This method offers functionality to compute the necessary mass and inertia properties based on the shapes declared in the PxRigidBody descriptor and some additionally specified parameters. For each shape, the shape geometry, the shape positioning within the actor and the specified shape density are used to compute the body's mass and inertia properties.

Shapes without PxShapeFlag::eSIMULATION_SHAPE set are ignored.
Shapes with plane, triangle mesh or heightfield geometry and PxShapeFlag::eSIMULATION_SHAPE set are not allowed for PxRigidBody collision

This method will set the mass, center of mass, and inertia tensor

if no collision shapes are found, the inertia tensor is set to (1,1,1) and the mass to 1

if massLocalPose is non-NULL, the rigid body's center of mass parameter will be set to the user provided value (massLocalPose) and the inertia tensor will be resolved at that point.

Note:: If all shapes of the actor have the same density then the overloaded method updateMassAndInertia() with a single density parameter can be used instead.

Parameters:

`[in,out]`	body	The rigid body.
`[in]`	shapeDensities	The per shape densities. There must be one entry for each shape which has the PxShapeFlag::eSIMULATION_SHAPE set. Other shapes are ignored. The density values must be greater than 0.
`[in]`	shapeDensityCount	The number of provided density values.
`[in]`	massLocalPose	The center of mass relative to the actor frame. If set to null then (0,0,0) is assumed.

Returns:: Boolean. True on success else false.

See also:: PxRigidBody::setMassLocalPose PxRigidBody::setMassSpaceInertia PxRigidBody::setMass

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

PxRigidBodyExt.h

PhysX SDK 3.2 API Reference: PxRigidBodyExt Class Reference

PhysX SDK 3.2 API

PxRigidBodyExt Class Reference
[Extensions]

Static Public Member Functions

Detailed Description

Member Function Documentation

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PhysX SDK 3.2 API Reference: PxRigidBodyExt Class Reference

PhysX SDK 3.2 API

PxRigidBodyExt Class Reference [Extensions]

Static Public Member Functions

Detailed Description

Member Function Documentation

PxRigidBodyExt Class Reference
[Extensions]