Maximum sweep distance for scene sweeps. The distance parameter for sweep functions will be clamped to this value. The reason for this is GJK support cannot be evaluated near infinity. A viable alternative can be a sweep followed by an infinite raycast.

See also:

PxScene

collection of set bits defined in PxActorFlag.

See also:

PxActorFlag

Collection of set bits defined in PxActorTypeSelectionFlag.

See also:

PxActorTypeSelectionFlag

constraint flags

See also:

PxConstraintFlag

solver constraint projection shader

This function is called by the constraint post-solver framework. The function must be reentrant, since it may be called simultaneously from multiple threads and should access only the arguments passed into it, since on PS3 this function may execute on SPU.

Parameters:

[in]	constantBlock	the constant data block
[out]	bodyAToWorld	The world transform of the first constrained body (the identity if the body is NULL)
[out]	bodyBToWorld	The world transform of the second constrained body (the identity if the body is NULL)
[in]	true	if the constraint should be projected by moving the second body towards the first, false if the converse

solver constraint generation shader

This function is called by the constraint solver framework. The function must be reentrant, since it may be called simultaneously from multiple threads, and should access only the arguments passed into it, since on PS3 this function may execute on SPU.

Developers writing custom constraints are encouraged to read the implementation code in PhysXExtensions.

Parameters:

[out]	constraints	an array of solver constraint rows to be filled in
[out]	body0WorldOffset	the origin point at which the constraint is resolved. This value does not affect how constraints are solved, but the force and torque reported for the constraint are resolved at this point
[in]	constantBlock	the constant data block
[in]	maxConstraints	the size of the constraint buffer. At most this many constraints rows may be written
[in]	bodyAToWorld	The world transform of the first constrained body (the identity if the body is NULL)
[in]	bodyBToWorld	The world transform of the second constrained body (the identity if the body is NULL)

Returns:

the number of constraint rows written.

solver constraint visualization function

This function is called by the constraint post-solver framework to visualize the constraint

Parameters:

[out]	out	the render buffer to render to
[in]	constantBlock	the constant data block
[in]	body0Transform	The world transform of the first constrained body (the identity if the body is NULL)
[in]	body1Transform	The world transform of the second constrained body (the identity if the body is NULL)
[in]	frameScale	the visualization scale for the constraint frames
[in]	limitScale	the visualization scale for the constraint limits
[in]	flags	the visualization flags

See also:

PxRenderBuffer

Bitfield that contains a set of raised flags defined in PxContactPairFlag.

See also:

PxContactPairFlag

Bitfield that contains a set of raised flags defined in PxContactPairHeaderFlag.

See also:

PxContactPairHeaderFlag

collection of set bits defined in PxDataAccessFlag.

See also:

PxDataAccessFlag

Group index which allows to specify 1- or 2-way interaction

Bitfield that contains a set of raised flags defined in PxFilterFlag.

See also:

PxFilterFlag

Structure which gets passed into the collision filtering shader and/or callback providing additional information on objects of a collision pair.

See also:

PxSimulationFilterShader PxSimulationFilterCallback getActorType() PxFilterObjectIsKinematic() PxFilterObjectIsTrigger()

collection of set bits defined in PxMaterialFlag.

See also:

PxMaterialFlag

Bitfield that contains a set of raised flags defined in PxPairFlag.

See also:

PxPairFlag

collection of set bits defined in PxRigidDynamicFlag.

See also:

PxRigidDynamicFlag

collection of set bits defined in PxSceneFlag.

See also:

PxSceneFlag

collection of set bits defined in PxShapeFlag.

See also:

PxShapeFlag

Filter shader to specify handling of collision pairs.

Collision filtering is a mechanism to specify how a pair of potentially colliding objects should be processed by the simulation. A pair of objects is potentially colliding if the bounding volumes of the two objects overlap. In short, a collision filter decides whether a collision pair should get processed, temporarily ignored or discarded. If a collision pair should get processed, the filter can additionally specify how it should get processed, for instance, whether contacts should get resolved, which callbacks should get invoked or which reports should be sent etc.

Note:

A default implementation of a filter shader is provided in the PhysX extensions library, see PxDefaultSimulationFilterShader.

See also:

PxSceneDesc.filterShader PxSimulationFilterCallback Filter method to specify how a pair of potentially colliding objects should be processed.Return the PxFilterFlag flags and set the PxPairFlag flags to define what the simulation should do with the given collision pair.

• The bounding volumes of two objects start to overlap.
• The bounding volumes of two objects overlap and the filter data or filter attributes of one of the objects changed
• A re-filtering was forced through resetFiltering() (see PxShape::resetFiltering(), PxParticleBase::resetFiltering())
• Filtering is requested in scene queries

Note:

Certain pairs of objects are always ignored and this method does not get called. This is the case for the following pairs:

• Pair of static rigid actors
• A static rigid actor and a kinematic actor (unless one is a trigger or if explicitly enabled through PxSceneFlag::eENABLE_KINEMATIC_STATIC_PAIRS)
• Two kinematic actors (unless one is a trigger or if explicitly enabled through PxSceneFlag::eENABLE_KINEMATIC_PAIRS)
• Pair of particle systems
• Two jointed rigid bodies and the joint was defined to disable collision
• Two articulation links if connected through an articulation joint

Note:

This is a performance critical method and should be stateless. You should neither access external objects from within this method nor should you call external methods that are not inlined. If you need a more complex logic to filter a collision pair then use the filter callback mechanism for this pair (see PxSimulationFilterCallback, PxFilterFlag::eCALLBACK, PxFilterFlag::eNOTIFY).

Parameters:

[in]	attributes0	The filter attribute of the first object
[in]	filterData0	The custom filter data of the first object
[in]	attributes1	The filter attribute of the second object
[in]	filterData1	The custom filter data of the second object
[out]	pairFlags	Flags giving additional information on how an accepted pair should get processed
[in]	constantBlock	The constant global filter data (see PxSceneDesc.filterShaderData)
[in]	constantBlockSize	Size of the global filter data (see PxSceneDesc.filterShaderDataSize)

Returns:

Filter flags defining whether the pair should be discarded, temporarily ignored, processed and whether the filter callback should get invoked for this pair.

See also:

PxSimulationFilterCallback PxFilterData PxFilterObjectAttributes PxFilterFlag PxFilterFlags PxPairFlag PxPairFlags

Bitfield that contains a set of raised flags defined in PxTriggerPairFlag.

See also:

PxTriggerPairFlag

Extracts the contact points from the stream and stores them in a convenient format.

Parameters:

[in]	userBuffer	Array of PxContactPairPoint structures to extract the contact points to. The number of contacts for a pair is defined by contactCount
[in]	bufferSize	Number of PxContactPairPoint structures the provided buffer can store.

Returns:

Number of contact points written to the buffer.

See also:

PxContactPairPoint

References PxContactPair::contactCount, PxContactPair::contactStream, PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED, PxContactPairFlag::eINTERNAL_HAS_IMPULSES, PxContactPair::flags, PxContactPairPoint::impulse, PxContactPoint::internalFaceIndex0, PxContactPairPoint::internalFaceIndex0, PxContactPoint::internalFaceIndex1, PxContactPairPoint::internalFaceIndex1, PxContactPairPoint::normal, PxContactPairPoint::position, PxMin(), PxContactPoint::separation, and PxContactPairPoint::separation.

Attempts to cast to specific actor type.

Returns:

NULL if the actor is not of the appropriate type. Otherwise a pointer to the specific actor type.

Note:

Since PxParticleFluid inherits from PxParticleSystem, calling isParticleSystem() on a PxParticleFluid instance will succeed and return the upcast to PxParticleSystem.

See also:

PxActorType PxRigidActor PxRigidBody PxRigidStatic PxRigidDynamic PxParticleBase PxParticleSystem PxParticleFluid

Returns true if the descriptor is valid.

Returns:

true if the current settings are valid (returns always true).

References PxSceneDesc::bounceThresholdVelocity, PxSceneDesc::contactCorrelationDistance, PxSceneDesc::contactReportStreamBufferSize, PxSceneDesc::cpuDispatcher, PxSceneDesc::dynamicTreeRebuildRateHint, PxPruningStructure::eDYNAMIC_AABB_TREE, PxPruningStructure::eSTATIC_AABB_TREE, PxSceneDesc::filterShader, PxSceneDesc::filterShaderData, PxSceneDesc::filterShaderDataSize, PxSceneLimits::isValid(), PxSceneDesc::limits, PxSceneDesc::maxNbContactDataBlocks, PxSceneDesc::nbContactDataBlocks, NULL, PxSceneDesc::staticStructure, PxSceneDesc::sweepEpsilonDistance, PxSceneDesc::sweptIntegrationAngularSpeedFactor, and PxSceneDesc::sweptIntegrationLinearSpeedFactor.

Returns true if the descriptor is valid.

Returns:

true if the current settings are valid (returns always true).

Referenced by PxSceneDesc::isValid().

References PxBatchQueryDesc::filterShaderData, PxBatchQueryDesc::filterShaderDataSize, and NULL.

Referenced by PxBatchQueryDesc::setToDefault().

Creates an instance of the physics SDK with minimal additional components registered.

Creates an instance of this class. May not be a class member to avoid name mangling. Pass the constant PX_PHYSICS_VERSION as the argument. There may be only one instance of this class per process. Calling this method after an instance has been created already will result in an error message and NULL will be returned.

Parameters:

	version	Version number we are expecting(should be PX_PHYSICS_VERSION)
	foundation	Foundation instance (see PxFoundation)
	scale	values used to determine default tolerances for objects at creation time
	trackOutstandingAllocations	true if you want to track memory allocations so a debugger connection partway through your physics simulation will get an accurate map of everything that has been allocated so far. This could have a memory and performance impact on your simulation hence it defaults to off.
	profileZoneManager	If profiling information is required, a profile zone manager has to be provided.

Returns:

PxPhysics instance on success, NULL if operation failed

Referenced by PxCreatePhysics().

Creates an instance of the physics SDK.

Creates an instance of this class. May not be a class member to avoid name mangling. Pass the constant PX_PHYSICS_VERSION as the argument. There may be only one instance of this class per process. Calling this method after an instance has been created already will result in an error message and NULL will be returned.

Parameters:

	version	Version number we are expecting(should be PX_PHYSICS_VERSION)
	foundation	Foundation instance (see PxFoundation)
	scale	values used to determine default tolerances for objects at creation time
	trackOutstandingAllocations	true if you want to track memory allocations so a debugger connection partway through your physics simulation will get an accurate map of everything that has been allocated so far. This could have a memory and performance impact on your simulation hence it defaults to off.
	profileZoneManager	If profiling information is required, a profile zone manager has to be provided.

Returns:

PxPhysics instance on success, NULL if operation failed

See also:

PxCreatePhysics

References NULL, PxCreateBasePhysics(), PxRegisterArticulations(), and PxRegisterHeightFields().

Specifies whether the collision object belongs to a kinematic rigid body.

Parameters:

[in]

attr

The filter attribute of a collision pair object

Returns:

True if the object belongs to a kinematic rigid body, else false

See also:

PxRigidDynamicFlag::eKINEMATIC

References PxFilterObjectFlags::eKINEMATIC.

Specifies whether the collision object is a trigger shape.

Parameters:

[in]

attr

The filter attribute of a collision pair object

Returns:

True if the object is a trigger shape, else false

See also:

PxShapeFlag::eTRIGGER_SHAPE

References PxFilterObjectFlags::eTRIGGER.

Extract filter object type from the filter attributes of a collision pair object.

Parameters:

[in]

attr

The filter attribute of a collision pair object

Returns:

The type of the collision pair object.

See also:

PxFilterObjectType

References PxFilterObjectType::eMAX_TYPE_COUNT.

Retrieves the Physics SDK after it has been created.

Before using this function the user must call PxCreatePhysics().

Note:

The behavior of this method is undefined if the Physics SDK instance has not been created already.

Retrieves the PhysX SDKmetadata.

Before using this function the user must call PxCreatePhysics(). If PxCreatePhysics() has not been called then NULL will be returned.

Reads an internal value (cooking format version).

Parameters:

[in]

cookValue

See PxCookingValue

Registers optional components for articulations.

Referenced by PxCreatePhysics().

Registers optional components for height field collision.

Referenced by PxCreatePhysics().

constructor sets to default (no gravity, no ground plane, collision detection on).

Parameters:

[in]

scale

scale values for the tolerances in the scene, specifically sweepEpsilonDistance, contactCorrelationDistance and bounceThresholdVelocity. Typically these should be the values passed into PxCreatePhysics().

See also:

PxCreatePhysics() PxTolerancesScale

Referenced by PxSceneDesc::setToDefault().

constructor sets to default

References PxSceneLimits::maxNbActors, PxSceneLimits::maxNbBodies, PxSceneLimits::maxNbConstraints, PxSceneLimits::maxNbDynamicShapes, and PxSceneLimits::maxNbStaticShapes.

Referenced by PxSceneLimits::setToDefault().

(re)sets the structure to the default (no gravity, no ground plane, collision detection on).

Parameters:

[in]

scale

scale values for the tolerances in the scene, specifically sweepEpsilonDistance, contactCorrelationDistance and bounceThresholdVelocity. Typically these should be the values passed into PxCreatePhysics().

See also:

PxCreatePhysics() PxTolerancesScale

References PxSceneDesc::PxSceneDesc().

(re)sets the structure to the default

References PxSceneLimits::PxSceneLimits().

References PxBatchQueryDesc::PxBatchQueryDesc().

A constraint.

A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint on the objects' velocities.

Given these definitions, the solver attempts to generate

1. a set of velocities for the objects which, when integrated, respect the constraint errors: body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1) + (geometricError / timestep) = velocityTarget

2. a set of velocities for the objects which respect the constraints: body0vel.dot(lin0,ang0) - body1vel.dot(lin1, ang1) = velocityTarget

Alternatively, the solver can attempt to resolve the velocity constraint as an implicit spring:

F = spring * -geometricError + damping * (velocityTarget - body0vel.dot(lin0,ang0) + body1vel.dot(lin1, ang1))

where F is the constraint force, or as an acceleration spring where acceleration replaces force.