PxShape Class Reference
[Physics]

Abstract class for collision shapes. More...

#include <PxShape.h>

Inheritance diagram for PxShape:

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Collaboration diagram for PxShape:

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List of all members.


Public Member Functions
virtual void	release ()=0
	Deletes the 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 PxRigidActor &	getActor () const =0
	Retrieves the actor which this shape is associated with.
virtual PxBounds3	getWorldBounds () const =0
	Retrieves the axis aligned bounding box enclosing the shape.
virtual void	setMaterials (PxMaterial const materials, PxU32 materialCount)=0
	Assigns material(s) to the shape.
virtual PxU32	getNbMaterials () const =0
	Returns the number of materials assigned to the shape.
virtual PxU32	getMaterials (PxMaterial **userBuffer, PxU32 bufferSize) const =0
	Retrieve all the material pointers associated with the shape.
virtual PxMaterial *	getMaterialFromInternalFaceIndex (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 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 PxU32	raycast (const PxVec3 &rayOrigin, const PxVec3 &rayDir, PxReal maxDist, PxSceneQueryFlags hintFlags, PxU32 maxHits, PxRaycastHit rayHits, bool firstHit, const PxTransform shapePose=NULL) const =0
	Raycast test against the shape.
virtual bool	overlap (const PxGeometry &otherGeom, const PxTransform &otherGeomPose, const PxTransform *shapePose=NULL) const =0
	Test overlap between the shape and a geometry object.
virtual bool	sweep (const PxVec3 &unitDir, const PxReal distance, const PxGeometry &otherGeom, const PxTransform &otherGeomPose, PxSweepHit &sweepHit, PxSceneQueryFlags hintFlags, const PxTransform *shapePose=NULL) const =0
	Sweep a geometry object against the shape.
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 actor they are owned by.
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	resetFiltering ()=0
	Marks the object to reset interactions and re-run collision filters in the next simulation step.
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
	PxShape (PxRefResolver &v)
PX_INLINE	PxShape ()
virtual	~PxShape ()
virtual bool	isKindOf (const char *name) const

Detailed Description

Abstract class for collision shapes.

An instance can be created by calling the createShape() method of the PxRigidActor class, or by adding the shape descriptors into the PxRigidActorDesc class before creating the actor.

Visualizations

The NVIDIA PhysX SDK users guide describes which shape geometries can collide with each other (direct link: users guide)

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

Constructor & Destructor Documentation

PxShape::PxShape ( PxRefResolver & v ) [inline, protected]

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

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

Member Function Documentation

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

Retrieves the actor which this shape is associated with.

Returns:: The actor this shape is associated with.

See also:: PxRigidStatic, PxRigidDynamic, PxArticulationLink

Referenced by PxShapeExt::getGlobalPose().

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.

Reimplemented from PxSerializable.

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()

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

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

virtual PxU32 PxShape::getMaterials	(	PxMaterial **	userBuffer,
		PxU32	bufferSize
	)			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.

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 PxU32 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 PxBounds3 PxShape::getWorldBounds ( ) const [pure virtual]

Retrieves the axis aligned bounding box enclosing the shape.

Returns:: The shape's bounding box.

See also:: PxBounds3

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

Reimplemented from PxSerializable.

References PxSerializable::isKindOf().

virtual bool PxShape::overlap	(	const PxGeometry &	otherGeom,
		const PxTransform &	otherGeomPose,
		const PxTransform *	shapePose = `NULL`
	)			const `[pure virtual]`

Test overlap between the shape and a geometry object.

Parameters:

`[in]`	otherGeom	The other geometry object to test overlap with
`[in]`	otherGeomPose	Pose of the other geometry object
`[in]`	shapePose	Optional pose for the PxShape object. If NULL, the shape's global pose is used.

Returns:: True if the shape overlaps the geometry object

See also:: PxGeometry PxTransform

virtual PxU32 PxShape::raycast	(	const PxVec3 &	rayOrigin,
		const PxVec3 &	rayDir,
		PxReal	maxDist,
		PxSceneQueryFlags	hintFlags,
		PxU32	maxHits,
		PxRaycastHit *	rayHits,
		bool	firstHit,
		const PxTransform *	shapePose = `NULL`
	)			const `[pure virtual]`

Raycast test against the shape.

Parameters:

`[in]`	rayOrigin	The origin of the ray to test the geometry object against
`[in]`	rayDir	The direction of the ray to test the geometry object against
`[in]`	maxDist	Maximum ray length
`[in]`	hintFlags	Specification of the kind of information to retrieve on hit. Combination of PxSceneQueryFlag flags
`[in]`	maxHits	max number of returned hits = size of 'rayHits' buffer
`[out]`	rayHits	Raycast hits information
`[in]`	firstHit	Set to false if the closest hit point should be computed, else the query aborts as soon as the first valid hit point is found.
`[in]`	shapePose	Optional pose for the PxShape object. If NULL, the shape's global pose is used.

Returns:: Number of hits between the ray and the shape

See also:: RaycastHit PxTransform

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

Deletes the shape.

Do not keep a reference to the deleted instance.

For static rigid actors it is not possible to release all shapes associated with the actor. An attempt to remove the last shape will be ignored.

See also:: PxRigidActor::createShape()

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

Marks the object to reset interactions and re-run collision filters in the next simulation step.

This call forces the object to remove all existing collision interactions, to search anew for existing contact pairs and to run the collision filters again for found collision pairs.

Note:

All persistent state of existing interactions will be lost and can not be retrieved even if the same collison pair is found again in the next step. This will mean, for example, that you will not get notified about persistent contact for such an interaction (see PxPairFlag::eNOTIFY_TOUCH_PERSISTS), the contact pair will be interpreted as newly found instead.

Lost touch contact reports will be sent for every collision pair which includes this shape, if they have been requested through PxPairFlag::eNOTIFY_TOUCH_LOST or PxPairFlag::eNOTIFY_THRESHOLD_FORCE_LOST.

This is an expensive operation, don't use it if you don't have to.

Can be used to retrieve collision pairs that were killed by the collision filters (see PxFilterFlag::eKILL)

Sleeping: Does wake up the actor.

See also:: PxSimulationFilterShader PxSimulationFilterCallback

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),inf)

See also:: getContactOffset PxTolerancesScale setRestOffset

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

Sets shape flags.

Note:: At least one of the following flags has to remain set: PxShapeFlag::eSIMULATION_SHAPE, PxShapeFlag::eTRIGGER_SHAPE, PxShapeFlag::eSCENE_QUERY_SHAPE

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.

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 actor they are owned by.

This transformation is identity by default.

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,
		PxU32	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: (-inf,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()

virtual bool PxShape::sweep	(	const PxVec3 &	unitDir,
		const PxReal	distance,
		const PxGeometry &	otherGeom,
		const PxTransform &	otherGeomPose,
		PxSweepHit &	sweepHit,
		PxSceneQueryFlags	hintFlags,
		const PxTransform *	shapePose = `NULL`
	)			const `[pure virtual]`

Sweep a geometry object against the shape.

Currently only box, sphere, capsule and convex mesh shapes are supported, i.e. the swept geometry object must be one of those types.

Parameters:

`[in]`	unitDir	Normalized direction along which the geometry object should be swept.
`[in]`	distance	Sweep distance. Needs to be larger than 0.
`[in]`	otherGeom	The geometry object to sweep against the shape
`[in]`	otherGeomPose	Pose of the geometry object
`[out]`	sweepHit	The sweep hit information. Only valid if this method returns true.
`[in]`	hintFlags	Specification of the kind of information to retrieve on hit. Combination of PxSceneQueryFlag flags
`[in]`	shapePose	Optional pose for the PxShape object. If NULL, the shape's global pose is used.

Returns:: True if the swept geometry object hits the shape

See also:: PxGeometry PxTransform PxSweepHit

Member Data Documentation

void* PxShape::userData

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:

PxShape.h

PhysX SDK 3.2 API Reference: PxShape Class Reference

PhysX SDK 3.2 API

PxShape Class Reference
[Physics]

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Visualizations

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Get in touch

PhysX SDK 3.2 API Reference: PxShape Class Reference

PhysX SDK 3.2 API

PxShape Class Reference [Physics]

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Visualizations

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

PxShape Class Reference
[Physics]