Extensions

Collaboration diagram for Extensions:


Classes
struct	PxConstraintExtIDs
	Unique identifiers for extensions classes which implement a constraint based on PxConstraint. More...
struct	PxD6Axis
	Used to specify one of the degrees of freedom of a D6 joint. More...
struct	PxD6Motion
	Used to specify the range of motions allowed for a degree of freedom in a D6 joint. More...
struct	PxD6Drive
	Used to specify which axes of a D6 joint are driven. More...
struct	PxD6JointDriveFlag
	flags for configuring the drive model of a PxD6Joint More...
class	PxD6JointDrive
	parameters for configuring the drive model of a PxD6Joint More...
class	PxD6Joint
	A D6 joint is a general constraint between two actors. More...
class	PxDefaultAllocator
	default implementation of the allocator interface required by the SDK More...
class	PxDefaultCpuDispatcher
	A default implementation for a CPU task dispatcher. More...
class	PxGroupsMask
	64-bit mask used for collision filtering. More...
struct	PxFilterOp
	Collision filtering operations. More...
struct	PxDistanceJointFlag
	flags for configuring the drive of a PxDistanceJoint More...
class	PxDistanceJoint
class	PxFixedJoint
	A fixed joint permits no relative movement between two bodies. ie the bodies are glued together. More...
struct	PxJointType
	an enumeration of PhysX' built-in joint types More...
struct	PxJointActorIndex
	an enumeration for specifying one or other of the actors referenced by a joint More...
class	PxJoint
	a base interface providing common functionality for PhysX joints More...
class	PxJointLimitParameters
	Describes the parameters for a joint limit. More...
class	PxJointLimit
	Describes a one-sided limit. More...
class	PxJointLimitPair
	Describes a two-sided limit. More...
class	PxJointLimitCone
	Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may result in jitter. More...
class	PxParticleExt
struct	PxPrismaticJointFlag
	Flags specific to the prismatic joint. More...
class	PxPrismaticJoint
	A prismatic joint permits relative translational movement between two bodies along an axis, but no relative rotational movement. More...
struct	PxRevoluteJointFlag
	Flags specific to the Revolute Joint. More...
class	PxRevoluteJoint
	A joint which behaves in a similar way to a hinge or axle. More...
class	PxRigidBodyExt
	utility functions for use with PxRigidBody and subclasses More...
class	PxShapeExt
	utility functions for use with PxShape More...
struct	PxSphericalJointFlag
	Flags specific to the spherical joint. More...
class	PxSphericalJoint
	A joint which behaves in a similar way to a ball and socket. More...
class	PxFindOverlapTriangleMeshUtil
struct	PxVisualDebuggerConnectionFlag
class	PxVisualDebuggerExt
Namespaces
namespace	physx
namespace	PVD
Typedefs
typedef PxFlags < PxD6JointDriveFlag::Enum, PxU32 >	PxD6JointDriveFlags
typedef PxFlags < PxDistanceJointFlag::Enum, PxU16 >	PxDistanceJointFlags
typedef PxFlags < PxPrismaticJointFlag::Enum, PxU16 >	PxPrismaticJointFlags
typedef PxFlags < PxRevoluteJointFlag::Enum, PxU16 >	PxRevoluteJointFlags
typedef PxFlags < PxSphericalJointFlag::Enum, PxU16 >	PxSphericalJointFlags
typedef physx::PxFlags < PxVisualDebuggerConnectionFlag::Enum, PxU32 >	PxVisualDebuggerConnectionFlags
Functions
PxD6Joint *	PxD6JointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a D6 joint.
	PX_FLAGS_OPERATORS (PxD6JointDriveFlag::Enum, PxU32)
PxDefaultCpuDispatcher *	PxDefaultCpuDispatcherCreate (PxU32 numThreads, PxU32 *affinityMasks=NULL)
	Create default dispatcher, extensions SDK needs to be initialized first.
PxFilterFlags	PxDefaultSimulationFilterShader (PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags &pairFlags, const void *constantBlock, PxU32 constantBlockSize)
	Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.
bool	PxGetGroupCollisionFlag (const PxU16 group1, const PxU16 group2)
	Determines if collision detection is performed between a pair of groups.
void	PxSetGroupCollisionFlag (const PxU16 group1, const PxU16 group2, const bool enable)
	Specifies if collision should be performed by a pair of shape groups.
PxU16	PxGetGroup (const PxRigidActor &actor)
	Retrieves the value set with PxSetGroup().
void	PxSetGroup (const PxRigidActor &actor, const PxU16 collisionGroup)
	Sets which collision group this actor is part of.
void	PxGetFilterOps (PxFilterOp::Enum &op0, PxFilterOp::Enum &op1, PxFilterOp::Enum &op2)
	Retrieves filtering operation. See comments for PxGroupsMask.
void	PxSetFilterOps (const PxFilterOp::Enum &op0, const PxFilterOp::Enum &op1, const PxFilterOp::Enum &op2)
	Setups filtering operations. See comments for PxGroupsMask.
bool	PxGetFilterBool ()
	Retrieves filtering's boolean value. See comments for PxGroupsMask.
void	PxSetFilterBool (const bool enable)
	Setups filtering's boolean value. See comments for PxGroupsMask.
void	PxGetFilterConstants (PxGroupsMask &c0, PxGroupsMask &c1)
	Gets filtering constant K0 and K1. See comments for PxGroupsMask.
void	PxSetFilterConstants (const PxGroupsMask &c0, const PxGroupsMask &c1)
	Setups filtering's K0 and K1 value. See comments for PxGroupsMask.
PxGroupsMask	PxGetGroupsMask (const PxRigidActor &actor)
	Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
void	PxSetGroupsMask (const PxRigidActor &actor, const PxGroupsMask &mask)
	Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
PxDistanceJoint *	PxDistanceJointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a distance Joint.
	PX_FLAGS_OPERATORS (PxDistanceJointFlag::Enum, PxU16)
PX_C_EXPORT bool PX_CALL_CONV	PxInitExtensions (physx::PxPhysics &physics)
	Initialize the PhysXExtensions library.
PX_C_EXPORT void PX_CALL_CONV	PxCloseExtensions ()
	Shut down the PhysXExtensions library.
PX_C_EXPORT void PX_CALL_CONV	PxDumpMetaData (physx::PxOutputStream &stream, const physx::PxPhysics &sdk)
	Dumps the SDK's meta-data to a stream.
PX_C_EXPORT void	PxCollectForExportSDK (const physx::PxPhysics &sdk, physx::PxCollection &collection)
	Collects all PxPhysics-level objects for export.
PX_C_EXPORT void	PxCollectForExportScene (const physx::PxScene &scene, physx::PxCollection &collection)
	Collects all PxScene-level objects for export.
PxFixedJoint *	PxFixedJointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a fixed joint.
	PX_DEFINE_TYPEINFO (PxFixedJoint, PxConcreteType::eUSER_FIXED_JOINT)
	PX_DEFINE_TYPEINFO (PxRevoluteJoint, PxConcreteType::eUSER_REVOLUTE_JOINT)
	PX_DEFINE_TYPEINFO (PxPrismaticJoint, PxConcreteType::eUSER_PRISMATIC_JOINT)
	PX_DEFINE_TYPEINFO (PxSphericalJoint, PxConcreteType::eUSER_SPHERICAL_JOINT)
	PX_DEFINE_TYPEINFO (PxDistanceJoint, PxConcreteType::eUSER_DISTANCE_JOINT)
	PX_DEFINE_TYPEINFO (PxD6Joint, PxConcreteType::eUSER_D6_JOINT)
PX_C_EXPORT void PX_CALL_CONV	PxSetJointGlobalFrame (physx::PxJoint &joint, const physx::PxVec3 wsAnchor, const physx::PxVec3 wsAxis)
	Helper function to setup a joint's global frame.
PxPrismaticJoint *	PxPrismaticJointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a prismatic joint.
	PX_FLAGS_OPERATORS (PxPrismaticJointFlag::Enum, PxU16)
PxRevoluteJoint *	PxRevoluteJointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a revolute joint.
	PX_FLAGS_OPERATORS (PxRevoluteJointFlag::Enum, PxU16)
PX_C_EXPORT physx::PxRigidDynamic *PX_CALL_CONV	PxCreateDynamic (physx::PxPhysics &sdk, const physx::PxTransform &transform, const physx::PxGeometry &geometry, physx::PxMaterial &material, physx::PxReal density, const physx::PxTransform &shapeOffset=physx::PxTransform::createIdentity())
	simple method to create a PxRigidDynamic actor with a single PxShape.
PX_C_EXPORT physx::PxRigidDynamic *PX_CALL_CONV	PxCreateKinematic (physx::PxPhysics &sdk, const physx::PxTransform &transform, const physx::PxGeometry &geometry, physx::PxMaterial &material, physx::PxReal density, const physx::PxTransform &shapeOffset=physx::PxTransform::createIdentity())
	simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
PX_C_EXPORT physx::PxRigidStatic *PX_CALL_CONV	PxCreateStatic (physx::PxPhysics &sdk, const physx::PxTransform &transform, const physx::PxGeometry &geometry, physx::PxMaterial &material, const physx::PxTransform &shapeOffset=physx::PxTransform::createIdentity())
	simple method to create a PxRigidStatic actor with a single PxShape.
PX_C_EXPORT physx::PxRigidStatic *PX_CALL_CONV	PxCloneStatic (physx::PxPhysics &physicsSDK, const physx::PxTransform &transform, const physx::PxRigidActor &actor)
	create a static body by copying attributes from another rigid actor
PX_C_EXPORT physx::PxRigidDynamic *PX_CALL_CONV	PxCloneDynamic (physx::PxPhysics &physicsSDK, const physx::PxTransform &transform, const physx::PxRigidDynamic &body)
	create a dynamic body by copying attributes from an existing body
PX_C_EXPORT physx::PxRigidStatic *PX_CALL_CONV	PxCreatePlane (physx::PxPhysics &sdk, const physx::PxPlane &plane, physx::PxMaterial &material)
	create a plane actor. The plane equation is n.x + d = 0
PX_C_EXPORT void PX_CALL_CONV	PxScaleRigidActor (physx::PxRigidActor &actor, physx::PxReal scale, bool scaleMassProps=true)
	scale a rigid actor by a uniform scale
PX_C_EXPORT bool PX_CALL_CONV	PxBuildSmoothNormals (physx::PxU32 nbTris, physx::PxU32 nbVerts, const physx::PxVec3 verts, const physx::PxU32 dFaces, const physx::PxU16 wFaces, physx::PxVec3 normals, bool flip)
	Builds smooth vertex normals over a mesh.
PxSphericalJoint *	PxSphericalJointCreate (PxPhysics &physics, PxRigidActor actor0, const PxTransform &localFrame0, PxRigidActor actor1, const PxTransform &localFrame1)
	Create a spherical joint.
	PX_FLAGS_OPERATORS (PxSphericalJointFlag::Enum, PxU16)
	PX_FLAGS_OPERATORS (PxVisualDebuggerConnectionFlag::Enum, PxU32)

Typedef Documentation

typedef PxFlags<PxD6JointDriveFlag::Enum, PxU32> PxD6JointDriveFlags

typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags

typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags

typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags

typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags

typedef physx::PxFlags<PxVisualDebuggerConnectionFlag::Enum, PxU32> PxVisualDebuggerConnectionFlags

Function Documentation

PX_DEFINE_TYPEINFO	(	PxD6Joint	,
		PxConcreteType::eUSER_D6_JOINT
	)

PX_DEFINE_TYPEINFO	(	PxDistanceJoint	,
		PxConcreteType::eUSER_DISTANCE_JOINT
	)

PX_DEFINE_TYPEINFO	(	PxSphericalJoint	,
		PxConcreteType::eUSER_SPHERICAL_JOINT
	)

PX_DEFINE_TYPEINFO	(	PxPrismaticJoint	,
		PxConcreteType::eUSER_PRISMATIC_JOINT
	)

PX_DEFINE_TYPEINFO	(	PxRevoluteJoint	,
		PxConcreteType::eUSER_REVOLUTE_JOINT
	)

PX_DEFINE_TYPEINFO	(	PxFixedJoint	,
		PxConcreteType::eUSER_FIXED_JOINT
	)

PX_FLAGS_OPERATORS	(	PxVisualDebuggerConnectionFlag::Enum	,
		PxU32
	)

PX_FLAGS_OPERATORS	(	PxSphericalJointFlag::Enum	,
		PxU16
	)

PX_FLAGS_OPERATORS	(	PxRevoluteJointFlag::Enum	,
		PxU16
	)

PX_FLAGS_OPERATORS	(	PxPrismaticJointFlag::Enum	,
		PxU16
	)

PX_FLAGS_OPERATORS	(	PxDistanceJointFlag::Enum	,
		PxU16
	)

PX_FLAGS_OPERATORS	(	PxD6JointDriveFlag::Enum	,
		PxU32
	)

PX_C_EXPORT bool PX_CALL_CONV PxBuildSmoothNormals	(	physx::PxU32	nbTris,
		physx::PxU32	nbVerts,
		const physx::PxVec3 *	verts,
		const physx::PxU32 *	dFaces,
		const physx::PxU16 *	wFaces,
		physx::PxVec3 *	normals,
		bool	flip
	)

Builds smooth vertex normals over a mesh.

"smooth" because smoothing groups are not supported here
takes angles into account for correct cube normals computation

To use 32bit indices pass a pointer in dFaces and set wFaces to zero. Alternatively pass a pointer to wFaces and set dFaces to zero.

Parameters:

`[in]`	nbTris	Number of triangles
`[in]`	nbVerts	Number of vertices
`[in]`	verts	Array of vertices
`[in]`	dFaces	Array of dword triangle indices, or null
`[in]`	wFaces	Array of word triangle indices, or null
`[out]`	normals	Array of computed normals (assumes nbVerts vectors)
`[in]`	flip	Flips the normals or not

Returns:: True on success.

PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCloneDynamic	(	physx::PxPhysics &	physicsSDK,
		const physx::PxTransform &	transform,
		const physx::PxRigidDynamic &	body
	)

create a dynamic body by copying attributes from an existing body

The following properties are copied:

shapes
actor flags and rigidDynamic flags
mass, moment of inertia, and center of mass frame
linear and angular velocity
linear and angular damping
maximum angular velocity
position and velocity solver iterations
sleep threshold
contact report threshold
dominance group
owner client and client behavior bits

The following are not copied and retain their default values:

name
joints or observers
aggregate or scene membership
sleep timer
user data

Note:: Transforms are not copied with bit-exact accuracy.

Parameters:

`[in]`	physicsSDK	PxPhysics - the physics SDK used to allocate the rigid static
`[in]`	body	the rigid dynamic to clone.
`[in]`	transform	the transform of the new dynamic

Returns:: returns the newly-created rigid static

PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCloneStatic	(	physx::PxPhysics &	physicsSDK,
		const physx::PxTransform &	transform,
		const physx::PxRigidActor &	actor
	)

create a static body by copying attributes from another rigid actor

The function clones a PxRigidDynamic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:

shapes
actor flags
owner client and client behavior bits

The following are not copied and retain their default values:

name
joints or observers
aggregate or scene membership
user data

Note:: Transforms are not copied with bit-exact accuracy.

Parameters:

`[in]`	physicsSDK	- the physics SDK used to allocate the rigid static
`[in]`	actor	the rigid actor from which to take the attributes.
`[in]`	transform	the transform of the new static.

Returns:: returns the newly-created rigid static

PX_C_EXPORT void PX_CALL_CONV PxCloseExtensions ( )

Shut down the PhysXExtensions library.

This function should be called to cleanly shut down the PhysXExtensions library before application exit.

Note:: this function is currently not required to be called, but is reserved for cleanup in future uses of the PhysXExtensions library.

See also:: PxInitExtensions

PX_C_EXPORT void PxCollectForExportScene	(	const physx::PxScene &	scene,
		physx::PxCollection &	collection
	)

Collects all PxScene-level objects for export.

This function adds all objects managed by the PxScene object to the input collection, which can then be serialized. Collected objects include actors, constraints, articulations and aggregates.

This is a helper function to easily enumerate all objects managed by PxScene, but using it is not mandatory. Users can also manually add a subset of those objects to the collection.

Parameters:

`[in]`	scene	Scene to retrieve the objects from. See PxScene
`[out]`	collection	Collection to which objects will be added. See PxCollection

See also:: PxCollection

PX_C_EXPORT void PxCollectForExportSDK	(	const physx::PxPhysics &	sdk,
		physx::PxCollection &	collection
	)

Collects all PxPhysics-level objects for export.

This function adds all objects managed by the PxPhysics object to the input collection, which can then be serialized. Collected objects include materials, convex meshes, triangle meshes, and heightfields.

This is a helper function to easily enumerate all objects managed by PxPhysics, but using it is not mandatory. Users can also manually add a subset of those objects to the collection.

Parameters:

`[in]`	sdk	Physics SDK to retrieve the objects from. See PxPhysics
`[out]`	collection	Collection to which objects will be added. See PxCollection

See also:: PxCollection

PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCreateDynamic	(	physx::PxPhysics &	sdk,
		const physx::PxTransform &	transform,
		const physx::PxGeometry &	geometry,
		physx::PxMaterial &	material,
		physx::PxReal	density,
		const physx::PxTransform &	shapeOffset = `physx::PxTransform::createIdentity()`
	)

simple method to create a PxRigidDynamic actor with a single PxShape.

Parameters:

`[in]`	sdk	the PxPhysics object
`[in]`	transform	the global pose of the new object
`[in]`	geometry	the geometry of the new object's shape, which must be a sphere, capsule, box or convex
`[in]`	material	the material for the new object's shape
`[in]`	density	the density of the new object. Must be greater than zero.
`[in]`	shapeOffset	an optional offset for the new shape, defaults to identity

Returns:: a new dynamic actor with the PxRigidDynamicFlag, or NULL if it could not be constructed

See also:: PxRigidDynamic PxShapeFlag

PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCreateKinematic	(	physx::PxPhysics &	sdk,
		const physx::PxTransform &	transform,
		const physx::PxGeometry &	geometry,
		physx::PxMaterial &	material,
		physx::PxReal	density,
		const physx::PxTransform &	shapeOffset = `physx::PxTransform::createIdentity()`
	)

simple method to create a kinematic PxRigidDynamic actor with a single PxShape.

Parameters:

`[in]`	sdk	the PxPhysics object
`[in]`	transform	the global pose of the new object
`[in]`	geometry	the geometry of the new object's shape
`[in]`	material	the material for the new object's shape
`[in]`	density	the density of the new object. Must be greater than zero if the object is to participate in simulation.
`[in]`	shapeOffset	an optional offset for the new shape, defaults to identity

Note:: unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However, kinematics of other geometry types may not participate in simulation collision and may be used only for triggers or scene queries of moving objects under animation control. In this case the density parameter will be ignored and the created shape will be set up as a scene query only shape (see PxShapeFlag::eSCENE_QUERY_SHAPE)

Returns:: a new dynamic actor with the PxRigidDynamicFlag::eKINEMATIC set, or NULL if it could not be constructed

See also:: PxRigidDynamic PxShapeFlag

PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCreatePlane	(	physx::PxPhysics &	sdk,
		const physx::PxPlane &	plane,
		physx::PxMaterial &	material
	)

create a plane actor. The plane equation is n.x + d = 0

Parameters:

`[in]`	sdk	the PxPhysics object
`[in]`	plane	a plane of the form n.x + d = 0
`[in]`	material	the material for the new object's shape

Returns:: a new static actor, or NULL if it could not be constructed

See also:: PxRigidStatic

PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCreateStatic	(	physx::PxPhysics &	sdk,
		const physx::PxTransform &	transform,
		const physx::PxGeometry &	geometry,
		physx::PxMaterial &	material,
		const physx::PxTransform &	shapeOffset = `physx::PxTransform::createIdentity()`
	)

simple method to create a PxRigidStatic actor with a single PxShape.

Parameters:

`[in]`	sdk	the PxPhysics object
`[in]`	transform	the global pose of the new object
`[in]`	geometry	the geometry of the new object's shape
`[in]`	material	the material for the new object's shape
`[in]`	shapeOffset	an optional offset for the new shape, defaults to identity

Returns:: a new static actor, or NULL if it could not be constructed

See also:: PxRigidStatic

PxD6Joint* PxD6JointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a D6 joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxD6Joint

PxDefaultCpuDispatcher* PxDefaultCpuDispatcherCreate	(	PxU32	numThreads,
		PxU32 *	affinityMasks = `NULL`
	)

Create default dispatcher, extensions SDK needs to be initialized first.

Parameters:

`[in]`	numThreads	Number of worker threads the dispatcher should use.
`[in]`	affinityMasks	Array with affinity mask for each thread. If not defined, default masks will be used.

See also:: PxDefaultCpuDispatcher

PxFilterFlags PxDefaultSimulationFilterShader	(	PxFilterObjectAttributes	attributes0,
		PxFilterData	filterData0,
		PxFilterObjectAttributes	attributes1,
		PxFilterData	filterData1,
		PxPairFlags &	pairFlags,
		const void *	constantBlock,
		PxU32	constantBlockSize
	)

Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.

This shader provides the following logic:

If one of the two filter objects is a trigger, the pair is acccepted and PxPairFlag::eTRIGGER_DEFAULT will be used for trigger reports
Else, if the filter mask logic (see further below) discards the pair it will be suppressed (PxFilterFlag::eSUPPRESS)
Else, the pair gets accepted and collision response gets enabled (PxPairFlag::eCONTACT_DEFAULT)

Filter mask logic: Given the two PxFilterData structures fd0 and fd1 of two collision objects, the pair passes the filter if the following conditions are met:

1) Collision groups of the pair are enabled 2) Collision filtering equation is satisfied

See also:: PxSimulationFilterShader

PxDistanceJoint* PxDistanceJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a distance Joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxDistanceJoint

PX_C_EXPORT void PX_CALL_CONV PxDumpMetaData	(	physx::PxOutputStream &	stream,
		const physx::PxPhysics &	sdk
	)

Dumps the SDK's meta-data to a stream.

A meta-data file contains information about the SDK's internal classes. Such a file is needed to convert binary-serialized SDK files from one platform to another. The converter needs meta-data files for the source and target platforms to perform conversions.

PxFixedJoint* PxFixedJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a fixed joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxFixedJoint

bool PxGetFilterBool ( )

Retrieves filtering's boolean value. See comments for PxGroupsMask.

Returns:: flag Boolean value for filter.

See also:: PxSetFilterBool PxSetFilterConstants

void PxGetFilterConstants	(	PxGroupsMask &	c0,
		PxGroupsMask &	c1
	)

Gets filtering constant K0 and K1. See comments for PxGroupsMask.

Returns:: the filtering constants, as a mask. See PxGroupsMask.

See also:: PxSetFilterOps PxSetFilterBool PxSetFilterConstants

void PxGetFilterOps	(	PxFilterOp::Enum &	op0,
		PxFilterOp::Enum &	op1,
		PxFilterOp::Enum &	op2
	)

Retrieves filtering operation. See comments for PxGroupsMask.

Parameters:

`[out]`	op0	First filter operator.
`[out]`	op1	Second filter operator.
`[out]`	op2	Third filter operator.

Returns:: the filter operations requested

See also:: PxSetFilterOps PxSetFilterBool PxSetFilterConstants

PxU16 PxGetGroup ( const PxRigidActor & actor )

Retrieves the value set with PxSetGroup().

Note:: Collision group is an integer between 0 and 31.

Parameters:

[in] actor Rigid body actor

Returns:: The collision group this actor belongs to

See also:: PxSetGroup

bool PxGetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2
	)

Determines if collision detection is performed between a pair of groups.

Note:: Collision group is an integer between 0 and 31.

Parameters:

`[in]`	group1	First Group
`[in]`	group2	Second Group

Returns:: True if the groups could collide

See also:: PxSetGroupCollisionFlag

PxGroupsMask PxGetGroupsMask ( const PxRigidActor & actor )

Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters:

[in] actor Rigid body actor

Returns:: The group mask for the shape.

See also:: PxSetGroupsMask()

PX_C_EXPORT bool PX_CALL_CONV PxInitExtensions ( physx::PxPhysics & physics )

Initialize the PhysXExtensions library.

This should be called before calling any functions or methods in extensions which may require allocation.

Note:: This function does not need to be called before creating a PxDefaultAllocator object.

Parameters:

physics

a PxPhysics object

See also:: PxCloseExtensions PxFoundation PxPhysics

PxPrismaticJoint* PxPrismaticJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a prismatic joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxPrismaticJoint

PxRevoluteJoint* PxRevoluteJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a revolute joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxRevoluteJoint

PX_C_EXPORT void PX_CALL_CONV PxScaleRigidActor	(	physx::PxRigidActor &	actor,
		physx::PxReal	scale,
		bool	scaleMassProps = `true`
	)

scale a rigid actor by a uniform scale

The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.

Parameters:

`[in]`	actor	a rigid actor
`[in]`	scale	the scale by which to multiply the actor
`[in]`	scaleMassProps	whether to scale the mass properties

void PxSetFilterBool ( const bool enable )

Setups filtering's boolean value. See comments for PxGroupsMask.

Parameters:

[in] enable Boolean value for filter.

See also:: PxSetFilterOps PxSsetFilterConstants

void PxSetFilterConstants	(	const PxGroupsMask &	c0,
		const PxGroupsMask &	c1
	)

Setups filtering's K0 and K1 value. See comments for PxGroupsMask.

Parameters:

`[in]`	c0	The new group mask. See PxGroupsMask.
`[in]`	c1	The new group mask. See PxGroupsMask.

See also:: PxSetFilterOps PxSetFilterBool PxGetFilterConstants

void PxSetFilterOps	(	const PxFilterOp::Enum &	op0,
		const PxFilterOp::Enum &	op1,
		const PxFilterOp::Enum &	op2
	)

Setups filtering operations. See comments for PxGroupsMask.

Parameters:

`[in]`	op0	Filter op 0.
`[in]`	op1	Filter op 1.
`[in]`	op2	Filter op 2.

See also:: PxSetFilterBool PxSetFilterConstants

void PxSetGroup	(	const PxRigidActor &	actor,
		const PxU16	collisionGroup
	)

Sets which collision group this actor is part of.

Note:: Collision group is an integer between 0 and 31.

Parameters:

`[in]`	actor	Rigid body actor
`[in]`	collisionGroup	Collision group this actor belongs to

See also:: PxGetGroup

void PxSetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2,
		const bool	enable
	)

Specifies if collision should be performed by a pair of shape groups.

Note:: Collision group is an integer between 0 and 31.

Parameters:

`[in]`	group1	First Group
`[in]`	group2	Second Group
`[in]`	enable	True to enable collision between the groups

See also:: PxGetGroupCollisionFlag

void PxSetGroupsMask	(	const PxRigidActor &	actor,
		const PxGroupsMask &	mask
	)

Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters:

`[in]`	actor	Rigid body actor
`[in]`	mask	The group mask to set for the shape.

See also:: PxGetGroupsMask()

PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame	(	physx::PxJoint &	joint,
		const physx::PxVec3 *	wsAnchor,
		const physx::PxVec3 *	wsAxis
	)

Helper function to setup a joint's global frame.

This replaces the following functions from previous SDK versions:

void NxJointDesc::setGlobalAnchor(const NxVec3& wsAnchor); void NxJointDesc::setGlobalAxis(const NxVec3& wsAxis);

The function sets the joint's localPose using world-space input parameters.

Parameters:

`[in]`	wsAnchor	Global frame anchor point. Range: position vector
`[in]`	wsAxis	Global frame axis. Range: direction vector
`[in,out]`	joint	Joint having its global frame set.

PxSphericalJoint* PxSphericalJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a spherical joint.

Parameters:

`[in]`	physics	the physics SDK
`[in]`	actor0	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame0	the position and orientation of the joint relative to actor0
`[in]`	actor1	an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
`[in]`	localFrame1	the position and orientation of the joint relative to actor1

See also:: PxSphericalJoint

PhysX SDK 3.2 API Reference: Extensions

PhysX SDK 3.2 API

Extensions

Classes

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Typedef Documentation

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