PxRigidDynamic Class Reference
[Physics]

PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. More...

#include <PxRigidDynamic.h>

Inheritance diagram for PxRigidDynamic:

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Collaboration diagram for PxRigidDynamic:

[legend]

List of all members.

Public Member Functions
Kinematic Actors
virtual void	setKinematicTarget (const PxTransform &destination)=0
	Moves kinematically controlled dynamic actors through the game world.
Damping
virtual void	setLinearDamping (PxReal linDamp)=0
	Sets the linear damping coefficient.
virtual PxReal	getLinearDamping () const =0
	Retrieves the linear damping coefficient.
virtual void	setAngularDamping (PxReal angDamp)=0
	Sets the angular damping coefficient.
virtual PxReal	getAngularDamping () const =0
	Retrieves the angular damping coefficient.
Velocity
virtual void	setMaxAngularVelocity (PxReal maxAngVel)=0
	Lets you set the maximum angular velocity permitted for this actor.
virtual PxReal	getMaxAngularVelocity () const =0
	Retrieves the maximum angular velocity permitted for this actor.
Sleeping
virtual bool	isSleeping () const =0
	Returns true if this body is sleeping.
virtual void	setSleepThreshold (PxReal threshold)=0
	Sets the mass-normalized kinetic energy threshold below which an actor may go to sleep.
virtual PxReal	getSleepThreshold () const =0
	Returns the mass-normalized kinetic energy below which an actor may go to sleep.
virtual void	wakeUp (PxReal wakeCounterValue=PX_SLEEP_INTERVAL)=0
	Wakes up the actor if it is sleeping.
virtual void	putToSleep ()=0
	Forces the actor to sleep.
virtual void	setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0
	Sets the solver iteration counts for the body.
virtual void	getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0
	Retrieves the solver iteration counts.
virtual PxReal	getContactReportThreshold () const =0
	Retrieves the force threshold for contact reports.
virtual void	setContactReportThreshold (PxReal threshold)=0
	Sets the force threshold for contact reports.
virtual void	setRigidDynamicFlag (PxRigidDynamicFlag::Enum flag, bool value)=0
	Raises or clears a particular dynamic rigid body flag.
virtual void	setRigidDynamicFlags (PxRigidDynamicFlags inFlags)=0
virtual PxRigidDynamicFlags	getRigidDynamicFlags () const =0
	Reads the PxRigidDynamic flags.
virtual const char *	getConcreteTypeName () const
	returns string name of dynamic type.
	PxRigidDynamic (PxRefResolver &v)
PX_INLINE	PxRigidDynamic ()
virtual	~PxRigidDynamic ()
virtual bool	isKindOf (const char *name) const

---

Detailed Description

PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.

Creation

Instances of this class are created by calling PxPhysics::createRigidDynamic() and deleted with release().

Visualizations

• PxVisualizationParameter::eACTOR_AXES
• PxVisualizationParameter::eBODY_AXES
• PxVisualizationParameter::eBODY_MASS_AXES
• PxVisualizationParameter::eBODY_LIN_VELOCITY
• PxVisualizationParameter::eBODY_ANG_VELOCITY
• PxVisualizationParameter::eBODY_JOINT_GROUPS

See also:

PxRigidBody PxPhysics.createRigidDynamic() release()

---

Constructor & Destructor Documentation

PxRigidDynamic::PxRigidDynamic

(

PxRefResolver &

v

)

[inline, protected]

PX_INLINE PxRigidDynamic::PxRigidDynamic

(

)

[inline, protected]

virtual PxRigidDynamic::~PxRigidDynamic

(

)

[inline, protected, virtual]

---

Member Function Documentation

virtual PxReal PxRigidDynamic::getAngularDamping

(

)

const [pure virtual]

Retrieves the angular damping coefficient.

Returns:

The angular damping coefficient associated with this actor.

See also:

setAngularDamping() getLinearDamping()

virtual const char* PxRigidDynamic::getConcreteTypeName

(

)

const [inline, virtual]

returns string name of dynamic type.

Returns:

class name of most derived type of this object.

Reimplemented from PxSerializable.

virtual PxReal PxRigidDynamic::getContactReportThreshold

(

)

const [pure virtual]

Retrieves the force threshold for contact reports.

The contact report threshold is a force threshold. If the force between two actors exceeds this threshold for either of the two actors, a contact report will be generated according to the contact report threshold flags provided by the filter shader/callback. See PxPairFlag.

The threshold used for a collision between a dynamic actor and the static environment is the threshold of the dynamic actor, and all contacts with static actors are summed to find the total normal force.

Default: PX_MAX_F32

Returns:

Force threshold for contact reports.

See also:

setContactReportThreshold PxPairFlag PxSimulationFilterShader PxSimulationFilterCallback

virtual PxReal PxRigidDynamic::getLinearDamping

(

)

const [pure virtual]

Retrieves the linear damping coefficient.

Returns:

The linear damping coefficient associated with this actor.

See also:

setLinearDamping() getAngularDamping()

virtual PxReal PxRigidDynamic::getMaxAngularVelocity

(

)

const [pure virtual]

Retrieves the maximum angular velocity permitted for this actor.

Returns:

The maximum allowed angular velocity for this actor.

See also:

setMaxAngularVelocity

virtual PxRigidDynamicFlags PxRigidDynamic::getRigidDynamicFlags

(

)

const [pure virtual]

Reads the PxRigidDynamic flags.

See the list of flags PxRigidDynamicFlag

Returns:

The values of the PxRigidDynamic flags.

See also:

PxRigidDynamicFlag setRigidDynamicFlag()

virtual PxReal PxRigidDynamic::getSleepThreshold

(

)

const [pure virtual]

Returns the mass-normalized kinetic energy below which an actor may go to sleep.

Actors whose kinetic energy divided by their mass is above this threshold will not be put to sleep.

Returns:

The energy threshold for sleeping.

See also:

isSleeping() wakeUp() putToSleep() setSleepThreshold()

virtual void PxRigidDynamic::getSolverIterationCounts	(	PxU32 &	minPositionIters,
		PxU32 &	minVelocityIters
	)			const [pure virtual]

Retrieves the solver iteration counts.

See also:

setSolverIterationCounts()

virtual bool PxRigidDynamic::isKindOf

(

const char *

name

)

const [inline, protected, virtual]

Reimplemented from PxRigidBody.

References PxRigidBody::isKindOf().

virtual bool PxRigidDynamic::isSleeping

(

)

const [pure virtual]

Returns true if this body is sleeping.

When an actor does not move for a period of time, it is no longer simulated in order to save time. This state is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object, or one of its properties is changed by the user, the entire sleep mechanism should be transparent to the user.

If an actor is asleep after the call to PxScene::fetchResults() returns, it is guaranteed that the pose of the actor was not changed. You can use this information to avoid updating the transforms of associated of dependent objects.

Returns:

True if the actor is sleeping.

See also:

isSleeping() wakeUp() putToSleep() getSleepThreshold()

virtual void PxRigidDynamic::putToSleep

(

)

[pure virtual]

Forces the actor to sleep.

The actor will stay asleep during the next simulation step if not touched by another non-sleeping actor.

Note:

This will set the velocity of the actor to 0.

See also:

isSleeping() wakeUp()

virtual void PxRigidDynamic::setAngularDamping

(

PxReal

angDamp

)

[pure virtual]

Sets the angular damping coefficient.

Zero represents no damping.

The angular damping coefficient must be nonnegative.

Default: 0.05

Parameters:

[in]

angDamp

Angular damping coefficient. Range: [0,inf)

See also:

getAngularDamping() setLinearDamping()

virtual void PxRigidDynamic::setContactReportThreshold

(

PxReal

threshold

)

[pure virtual]

Sets the force threshold for contact reports.

See getContactReportThreshold().

Parameters:

[in]

threshold

Force threshold for contact reports. Range: (0,inf)

See also:

getContactReportThreshold PxPairFlag

virtual void PxRigidDynamic::setKinematicTarget

(

const PxTransform &

destination

)

[pure virtual]

Moves kinematically controlled dynamic actors through the game world.

You set a dynamic actor to be kinematic using the PxRigidDynamicFlag::eKINEMATIC flag, used either in the PxRigidDynamicDesc or with setRigidDynamicFlag().

The move command will result in a velocity that will move the body into the desired pose. After the move is carried out during a single time step, the velocity is returned to zero. Thus, you must continuously call this in every time step for kinematic actors so that they move along a path.

This function simply stores the move destination until the next simulation step is processed, so consecutive calls will simply overwrite the stored target variable.

The motion is always fully carried out.

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

Parameters:

[in]

destination

The desired pose for the kinematic actor, in the global frame. Range: rigid body transform.

See also:

PxRigidDynamicFlag setRigidDynamicFlag()

virtual void PxRigidDynamic::setLinearDamping

(

PxReal

linDamp

)

[pure virtual]

Sets the linear damping coefficient.

Zero represents no damping. The damping coefficient must be nonnegative.

Default: 0.0

Parameters:

[in]

linDamp

Linear damping coefficient. Range: [0,inf)

See also:

getLinearDamping() setAngularDamping()

virtual void PxRigidDynamic::setMaxAngularVelocity

(

PxReal

maxAngVel

)

[pure virtual]

Lets you set the maximum angular velocity permitted for this actor.

For various internal computations, very quickly rotating actors introduce error into the simulation, which leads to undesired results.

With this function, you can set the maximum angular velocity permitted for this rigid body. Higher angular velocities are clamped to this value.

Note: The angular velocity is clamped to the set value before the solver, which means that the limit may still be momentarily exceeded.

Default: 7.0

Parameters:

[in]

maxAngVel

Max allowable angular velocity for actor. Range: (0,inf)

See also:

getMaxAngularVelocity()

virtual void PxRigidDynamic::setRigidDynamicFlag	(	PxRigidDynamicFlag::Enum	flag,
		bool	value
	)			[pure virtual]

Raises or clears a particular dynamic rigid body flag.

See the list of flags PxRigidDynamicFlag

Default: no flags are set

Sleeping: Does NOT wake the actor up automatically.

Parameters:

[in]	flag	The PxRigidDynamic flag to raise(set) or clear. See PxRigidDynamicFlag.
[in]	value	The new boolean value for the flag.

See also:

PxRigidDynamicFlag getRigidDynamicFlags()

virtual void PxRigidDynamic::setRigidDynamicFlags

(

PxRigidDynamicFlags

inFlags

)

[pure virtual]

virtual void PxRigidDynamic::setSleepThreshold

(

PxReal

threshold

)

[pure virtual]

Sets the mass-normalized kinetic energy threshold below which an actor may go to sleep.

Actors whose kinetic energy divided by their mass is above this threshold will not be put to sleep.

Default: 0.05 * PxTolerancesScale::speed * PxTolerancesScale::speed

Parameters:

[in]

threshold

Energy below which an actor may go to sleep. Range: (0,inf]

See also:

isSleeping() getSleepThreshold() wakeUp() putToSleep() PxTolerancesScale

virtual void PxRigidDynamic::setSolverIterationCounts	(	PxU32	minPositionIters,
		PxU32	minVelocityIters = 1
	)			[pure virtual]

Sets the solver iteration counts for the body.

The solver iteration count determines how accurately joints and contacts are resolved. If you are having trouble with jointed bodies oscillating and behaving erratically, then setting a higher position iteration count may improve their stability.

If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations.

Default: 4 position iterations, 1 velocity iteration

Parameters:

[in]	minPositionIters	Number of position iterations the solver should perform for this body. Range: [1,255]
[in]	minVelocityIters	Number of velocity iterations the solver should perform for this body. Range: [1,255]

See also:

getSolverIterationCounts()

virtual void PxRigidDynamic::wakeUp

(

PxReal

wakeCounterValue = PX_SLEEP_INTERVAL

)

[pure virtual]

Wakes up the actor if it is sleeping.

The wakeCounterValue determines how long until the body is put to sleep, a value of zero means that the body is sleeping. wakeUp(0) is equivalent to PxRigidDynamic::putToSleep().

Parameters:

[in]

wakeCounterValue

New sleep counter value. Range: [0,inf]

See also:

isSleeping() putToSleep()

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

• PxRigidDynamic.h