Defined in include/PxConstraintDesc.h

Inheritance Relationships

Derived Type

class PxConstraintConnector

This class connects a custom constraint to the SDK.

This class connects a custom constraint to the SDK, and functions are called by the SDK to query the custom implementation for specific information to pass on to the application or inform the constraint when the application makes calls into the SDK which will update the custom constraint’s internal implementation

Subclassed by PxVehicleConstraintConnector

Public Functions

virtual void *prepareData() = 0

Pre-simulation data preparation when the constraint is marked dirty, this function is called at the start of the simulation step for the SDK to copy the constraint data block.

virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream &pvdConnection, const PxConstraint *c, PxPvdUpdateType::Enum updateType) const = 0

this function is called by the SDK to update PVD’s view of it

virtual void updateOmniPvdProperties() const = 0

this function is called by the SDK to update OmniPVD’s view of it

virtual void onConstraintRelease() = 0

Constraint release callback.

When the SDK deletes a PxConstraint object this function is called by the SDK. In general custom constraints should not be deleted directly by applications: rather, the constraint should respond to a release() request by calling PxConstraint::release(), then wait for this call to release its own resources.

This function is also called when a PxConstraint object is deleted on cleanup due to destruction of the PxPhysics object.

virtual void onComShift(PxU32 actor) = 0

Center-of-mass shift callback.

This function is called by the SDK when the CoM of one of the actors is moved. Since the API specifies constraint positions relative to actors, and the constraint shader functions are supplied with coordinates relative to bodies, some synchronization is usually required when the application moves an object’s center of mass.

virtual void onOriginShift(const PxVec3 &shift) = 0

Origin shift callback.

This function is called by the SDK when the scene origin gets shifted and allows to adjust custom data which contains world space transforms.


If the adjustments affect constraint shader data, it is necessary to call PxConstraint::markDirty() to make sure that the data gets synced at the beginning of the next simulation step.


shift[in] Translation vector the origin is shifted by.

virtual void *getExternalReference(PxU32 &typeID) = 0

Fetches external data for a constraint.

This function is used by the SDK to acquire a reference to the owner of a constraint and a unique owner type ID. This information will be passed on when a breakable constraint breaks or when PxConstraint::getExternalReference() is called.


typeID[out] Unique type identifier of the external object. The value 0xffffffff is reserved and should not be used. Furthermore, if the PhysX extensions library is used, some other IDs are reserved already (see PxConstraintExtIDs)


Reference to the external object which owns the constraint.

virtual PxBase *getSerializable() = 0

Obtain a reference to a PxBase interface if the constraint has one.

If the constraint does not implement the PxBase interface, it should return NULL.

virtual PxConstraintSolverPrep getPrep() const = 0

Obtain the shader function pointer used to prep rows for this constraint.

virtual const void *getConstantBlock() const = 0

Obtain the pointer to the constraint’s constant data.

inline virtual void connectToConstraint(PxConstraint*)

Let the connector know it has been connected to a constraint.

inline virtual ~PxConstraintConnector()

virtual destructor