PxShape Class Reference
[Physics]
Abstract class for collision shapes.
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#include <PxShape.h>
![Inheritance graph](classPxShape__inherit__graph.png)
![Collaboration graph](classPxShape__coll__graph.png)
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
- PxVisualizationParameter::eCOLLISION_AABBS
- PxVisualizationParameter::eCOLLISION_SHAPES
- PxVisualizationParameter::eCOLLISION_AXES
- 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] |
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] |
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;
virtual PxGeometryType::Enum PxShape::getGeometryType | ( | ) | const [pure virtual] |
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
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.
virtual const char* PxShape::getName | ( | ) | const [pure virtual] |
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] |
virtual PxReal PxShape::getRestOffset | ( | ) | const [pure virtual] |
virtual PxFilterData PxShape::getSimulationFilterData | ( | ) | const [pure virtual] |
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] |
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)
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)
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
- 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.
- See also:
- PxShapeFlag getFlags()
virtual void PxShape::setFlags | ( | PxShapeFlags | inFlags | ) | [pure virtual] |
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] |
virtual void PxShape::setQueryFilterData | ( | const PxFilterData & | data | ) | [pure virtual] |
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:
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