PxSoftBody

Defined in include/PxSoftBody.h

Inheritance Relationships

Base Type

public PxActor (PxActor)

class PxSoftBody : public PxActor 

Represents a FEM softbody including everything to calculate its definition like geometry and material properties.

Public Functions

inline virtual ~PxSoftBody()

virtual void setSoftBodyFlag(PxSoftBodyFlag::Enum flag, bool val) = 0

Set a single softbody flag.

Parameters

flag – [in] The flag to set or clear
val – [in] The new state of the flag

virtual void setSoftBodyFlags(PxSoftBodyFlags flags) = 0

Set the softbody flags.

Parameters: flags – [in] The new softbody flags

virtual PxSoftBodyFlags getSoftBodyFlag() const = 0

Get the softbody flags.

Returns: The softbody flags

virtual void setParameter(const PxFEMParameters parameters) = 0

Set parameter for FEM internal solve.

Parameters: parameters – [in] The FEM parameters

virtual PxFEMParameters getParameter() const = 0

Get parameter for FEM internal solve.

Returns: The FEM parameters

virtual void readData(PxSoftBodyData::Enum flags, PxBuffer &buffer, bool flush = false) = 0

Issues a read command to the PxSoftBody.

Read operations are scheduled and then flushed in PxScene::simulate(). Read operations are known to be finished when PxBuffer::map() returns.

PxSoftBodyData::ePOSITION_INVMASS, PxSoftBodyData::eSIM_POSITION_INVMASS and PxSoftBodyData::eSIM_VELOCITY can be read from the PxSoftBody.

The softbody class offers internal cpu buffers that can be used to hold the data. The cpu buffers are accessible through getPositionInvMassCPU(), getSimPositionInvMassCPU() and getSimVelocityInvMassCPU().

See also

writeData(), PxBuffer, PxSoftBodyData

Parameters

flags – [in] Specifies which PxSoftBody data to read from.
buffer – [in] Specifies buffer to which data is written to.
flush – [in] If set to true the command gets executed immediately, otherwise it will get executed the next time copy commands are flushed.

virtual void readData(PxSoftBodyData::Enum flags, bool flush = false) = 0

Issues a read command to the PxSoftBody.

Read operations are scheduled and then flushed in PxScene::simulate(). Read operations are known to be finished when PxBuffer::map() returns.

PxSoftBodyData::ePOSITION_INVMASS, PxSoftBodyData::eSIM_POSITION_INVMASS and PxSoftBodyData::eSIM_VELOCITY can be read from the PxSoftBody.

The data to read from the GPU is written to the corresponding cpu buffer that a softbody provides. Those cpu buffers are accessible through getPositionInvMassCPU(), getSimPositionInvMassCPU() or getSimVelocityInvMassCPU().

See also

writeData(), PxSoftBodyData

Parameters

flags – [in] Specifies which PxSoftBody data to read from.
flush – [in] If set to true the command gets executed immediately, otherwise it will get executed the next time copy commands are flushed.

virtual void writeData(PxSoftBodyData::Enum flags, PxBuffer &buffer, bool flush = false) = 0

Issues a write command to the PxSoftBody.

Write operations are scheduled and then flushed in PxScene::simulate(). Write operations are known to be finished when PxScene::fetchResult() returns.

PxSoftBodyData::eSIM_POSITION_INVMASS and PxSoftBodyData::eSIM_VELOCITY can be written to the PxSoftBody. PxSoftBodyData::ePOSITION_INVMASS is read only, because the collision-mesh vertices are driven by the simulation-mesh vertices, which can be written to with PxSoftBodyData::eSIM_POSITION_INVMASS.

The softbody class offers internal cpu buffers that can be used to hold the data. The cpu buffers are accessible through getPositionInvMassCPU(), getSimPositionInvMassCPU() and getSimVelocityInvMassCPU(). Consider to use the PxSoftBodyExt::commit() extension method if all buffers should get written.

Parameters

flags – [in] Specifies which PxSoftBody data to write to.
buffer – [in] Specifies buffer from which data is read.
flush – [in] If set to true the command gets executed immediately, otherwise it will get executed the next time copy commands are flushed.

virtual void writeData(PxSoftBodyData::Enum flags, bool flush = false) = 0

Issues a write command to the PxSoftBody.

Write operations are scheduled and then flushed in PxScene::simulate(). Write operations are known to be finished when PxScene::fetchResult() returns.

PxSoftBodyData::eSIM_POSITION_INVMASS and PxSoftBodyData::eSIM_VELOCITY can be written to the PxSoftBody. PxSoftBodyData::ePOSITION_INVMASS is read only, because the collision-mesh vertices are driven by the simulation-mesh vertices, which can be written to with PxSoftBodyData::eSIM_POSITION_INVMASS.

The data to write to the GPU is taken from the corresponding cpu buffer that a softbody provides. Those cpu buffers are accessible through getPositionInvMassCPU(), getSimPositionInvMassCPU() or getSimVelocityInvMassCPU().

See also

readData(), PxSoftBodyData

Parameters

flags – [in] Specifies which PxSoftBody data to write to.
flush – [in] If set to true the command gets executed immediately, otherwise it will get executed the next time copy commands are flushed.

virtual PxCudaContextManager *getCudaContextManager() const = 0

Return the cuda context manager.

Returns: The cuda context manager

virtual void setWakeCounter(PxReal wakeCounterValue) = 0

Sets the wake counter for the soft body.

The wake counter value determines the minimum amount of time until the soft body can be put to sleep. Please note that a soft body will not be put to sleep if any vertex velocity is above the specified threshold or if other awake objects are touching it.

Default: 0.4 (which corresponds to 20 frames for a time step of 0.02)

See also

isSleeping() getWakeCounter()

Note

Passing in a positive value will wake the soft body up automatically.

Parameters: wakeCounterValue – [in] Wake counter value. Range: [0, PX_MAX_F32)

virtual PxReal getWakeCounter() const = 0

Returns the wake counter of the soft body.

See also

isSleeping() setWakeCounter()

Returns: The wake counter of the soft body.

virtual bool isSleeping() const = 0

Returns true if this soft body is sleeping.

When an actor does not move for a period of time, it is no longer simulated in order to save time. This state is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object, or a sleep-affecting property is changed by the user, the entire sleep mechanism should be transparent to the user.

A soft body can only go to sleep if all vertices are ready for sleeping. A soft body is guaranteed to be awake if at least one of the following holds:

The wake counter is positive (

See also

setWakeCounter()).
The velocity of any vertex is above the sleep threshold.

If a soft body is sleeping, the following state is guaranteed:

The wake counter is zero.
The linear velocity of all vertices is zero.

When a soft body gets inserted into a scene, it will be considered asleep if all the points above hold, else it will be treated as awake.

See also

isSleeping()

Note

It is invalid to use this method if the soft body has not been added to a scene already.

Returns: True if the soft body is sleeping.

virtual void setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0

Sets the solver iteration counts for the body.

The solver iteration count determines how accurately deformation and contacts are resolved. If you are having trouble with softbodies that are not as stiff as they should be, then setting a higher position iteration count may improve the behavior.

If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations.

Default: 4 position iterations, 1 velocity iteration

See also

getSolverIterationCounts()

Parameters

minPositionIters – [in] Minimal number of position iterations the solver should perform for this body. Range: [1,255]
minVelocityIters – [in] Minimal number of velocity iterations the solver should perform for this body. Range: [1,255]

virtual void getSolverIterationCounts(PxU32 &minPositionIters, PxU32 &minVelocityIters) const = 0

Retrieves the solver iteration counts.

See also

setSolverIterationCounts()

virtual PxShape *getShape() = 0

Retrieves the shape pointer belonging to the actor.

See also

PxShape getNbShapes() PxShape::release()

Returns: Pointer to the collision mesh’s shape

virtual PxTetrahedronMesh *getCollisionMesh() = 0

Retrieve the collision mesh pointer.

Allows to access the geometry of the tetrahedral mesh used to perform collision detection

Returns: Pointer to the collision mesh

virtual PxTetrahedronMesh *getSimulationMesh() = 0

Retrieves the simulation mesh pointer.

Allows to access the geometry of the tetrahedral mesh used to compute the object’s deformation

Returns: Pointer to the simulation mesh

virtual PxSoftBodyAuxData *getSoftBodyAuxData() = 0

Retrieves the simulation state pointer.

Allows to access the additional data of the simulation mesh (inverse mass, rest state etc.). The geometry part of the data is stored in the simulation mesh.

Returns: Pointer to the simulation state

virtual bool attachShape(PxShape &shape) = 0

Attaches a shape.

Attaches the shape to use for collision detection

Parameters: shape – [in] The shape to use for collisions
Returns: Returns true if the operation was successful

virtual bool attachSimulationMesh(PxTetrahedronMesh &simulationMesh, PxSoftBodyAuxData &softBodyAuxData) = 0

Attaches a simulation mesh.

Attaches the simulation mesh (geometry) and a state containing inverse mass, rest pose etc. required to compute the softbody deformation.

Parameters

simulationMesh – [in] The tetrahedral mesh used to compute the softbody’s deformation
softBodyAuxData – [in] A state that contain a mapping from simulation to collision mesh, volume information etc.

Returns

Returns true if the operation was successful

virtual void detachShape() = 0

Detaches the shape.

Detaches the shape used for collision detection.

See also

void detachSimulationMesh()

virtual void detachSimulationMesh() = 0

Detaches the simulation mesh.

Detaches the simulation mesh and simulation state used to compute the softbody deformation.

See also

void detachShape()

virtual void release() = 0

Releases the softbody.

Releases the softbody and frees its resources.

virtual void addParticleFilter(PxPBDParticleSystem *particlesystem, const PxParticleBuffer *buffer, PxU32 particleId, PxU32 tetId) = 0

Creates a collision filter between a particle and a tetrahedron in the soft body’s collision mesh.

Parameters

particlesystem – [in] The particle system used for the collision filter
buffer – [in] The PxParticleBuffer to which the particle belongs to.
particleId – [in] The particle whose collisions with the tetrahedron in the soft body are filtered.
tetId – [in] The tetradedron in the soft body that is filtered. If tetId is PX_MAX_TETID, this particle will filter against all tetrahedra in this soft body

virtual void removeParticleFilter(PxPBDParticleSystem *particlesystem, const PxParticleBuffer *buffer, PxU32 particleId, PxU32 tetId) = 0

Removes a collision filter between a particle and a tetrahedron in the soft body’s collision mesh.

Parameters

particlesystem – [in] The particle system used for the collision filter
buffer – [in] The PxParticleBuffer to which the particle belongs to.
particleId – [in] The particle whose collisions with the tetrahedron in the soft body are filtered.
tetId – [in] The tetrahedron in the soft body is filtered.

virtual PxU32 addParticleAttachment(PxPBDParticleSystem *particlesystem, const PxParticleBuffer *buffer, PxU32 particleId, PxU32 tetId, const PxVec4 &barycentric) = 0

Creates an attachment between a particle and a soft body.

Be aware that destroying the particle system before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the particle system does not.

Parameters

particlesystem – [in] The particle system used for the attachment
buffer – [in] The PxParticleBuffer to which the particle belongs to.
particleId – [in] The particle that is attached to a tetrahedron in the soft body’s collision mesh.
tetId – [in] The tetrahedron in the soft body’s collision mesh to attach the particle to.
barycentric – [in] The barycentric coordinates of the particle attachment position with respect to the tetrahedron specified with tetId.

Returns

Returns a handle that identifies the attachment created. This handle can be used to release the attachment later

virtual void removeParticleAttachment(PxPBDParticleSystem *particlesystem, PxU32 handle) = 0

Removes an attachment between a particle and a soft body.

Be aware that destroying the particle system before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the particle system does not.

Parameters

particlesystem – [in] The particle system used for the attachment
handle – [in] Index that identifies the attachment. This handle gets returned by the addParticleAttachment when the attachment is created

virtual void addRigidFilter(PxRigidActor *actor, PxU32 vertId) = 0

Creates a collision filter between a vertex in a soft body and a rigid body.

Parameters

actor – [in] The rigid body actor used for the collision filter
vertId – [in] The index of a vertex in the softbody’s collision mesh whose collisions with the rigid body are filtered.

virtual void removeRigidFilter(PxRigidActor *actor, PxU32 vertId) = 0

Removes a collision filter between a vertex in a soft body and a rigid body.

Parameters

actor – [in] The rigid body actor used for the collision filter
vertId – [in] The index of a vertex in the softbody’s collision mesh whose collisions with the rigid body are filtered.

virtual PxU32 addRigidAttachment(PxRigidActor *actor, PxU32 vertId, const PxVec3 &actorSpacePose, PxConeLimitedConstraint *constraint = NULL) = 0

Creates a rigid attachment between a soft body and a rigid body.

Be aware that destroying the rigid body before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the rigid body does not.

This method attaches a vertex on the soft body collision mesh to the rigid body.

Parameters

actor – [in] The rigid body actor used for the attachment
vertId – [in] The index of a vertex in the softbody’s collision mesh that gets attached to the rigid body.
actorSpacePose – [in] The location of the attachment point expressed in the rigid body’s coordinate system.
constraint – [in] The user defined cone distance limit constraint to limit the movement between a vertex in the soft body and rigid body.

Returns

Returns a handle that identifies the attachment created. This handle can be used to relese the attachment later

virtual void removeRigidAttachment(PxRigidActor *actor, PxU32 handle) = 0

Releases a rigid attachment between a soft body and a rigid body.

Be aware that destroying the rigid body before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the rigid body does not.

This method removes a previously-created attachment between a vertex of the soft body collision mesh and the rigid body.

Parameters

actor – [in] The rigid body actor used for the attachment
handle – [in] Index that identifies the attachment. This handle gets returned by the addRigidAttachment when the attachment is created

virtual void addTetRigidFilter(PxRigidActor *actor, PxU32 tetIdx) = 0

Creates collision filter between a tetrahedron in a soft body and a rigid body.

Parameters

actor – [in] The rigid body actor used for collision filter
tetIdx – [in] The index of a tetrahedron in the softbody’s collision mesh whose collisions with the rigid body is filtered.

virtual void removeTetRigidFilter(PxRigidActor *actor, PxU32 tetIdx) = 0

Removes collision filter between a tetrahedron in a soft body and a rigid body.

Parameters

actor – [in] The rigid body actor used for collision filter
tetIdx – [in] The index of a tetrahedron in the softbody’s collision mesh whose collisions with the rigid body is filtered.

virtual PxU32 addTetRigidAttachment(PxRigidActor *actor, PxU32 tetIdx, const PxVec4 &barycentric, const PxVec3 &actorSpacePose, PxConeLimitedConstraint *constraint = NULL) = 0

Creates a rigid attachment between a soft body and a rigid body.

Be aware that destroying the rigid body before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the rigid body does not.

This method attaches a point inside a tetrahedron of the collision to the rigid body.

Parameters

actor – [in] The rigid body actor used for the attachment
tetIdx – [in] The index of a tetrahedron in the softbody’s collision mesh that contains the point to be attached to the rigid body
barycentric – [in] The barycentric coordinates of the attachment point inside the tetrahedron specified by tetIdx
actorSpacePose – [in] The location of the attachment point expressed in the rigid body’s coordinate system.
constraint – [in] The user defined cone distance limit constraint to limit the movement between a tet and rigid body.

Returns

Returns a handle that identifies the attachment created. This handle can be used to release the attachment later

virtual void addSoftBodyFilter(PxSoftBody *otherSoftBody, PxU32 otherTetIdx, PxU32 tetIdx1) = 0

Creates collision filter between a tetrahedron in a soft body and a tetrahedron in another soft body.

Parameters

otherSoftBody – [in] The other soft body actor used for collision filter
otherTetIdx – [in] The index of the tetrahedron in the other softbody’s collision mesh to be filtered.
tetIdx1 – [in] The index of the tetrahedron in the softbody’s collision mesh to be filtered.

virtual void removeSoftBodyFilter(PxSoftBody *otherSoftBody, PxU32 otherTetIdx, PxU32 tetIdx1) = 0

Removes collision filter between a tetrahedron in a soft body and a tetrahedron in other soft body.

Parameters

otherSoftBody – [in] The other soft body actor used for collision filter
otherTetIdx – [in] The index of the other tetrahedron in the other softbody’s collision mesh whose collision with the tetrahedron with the soft body is filtered.
tetIdx1 – [in] The index of the tetrahedron in the softbody’s collision mesh whose collision with the other tetrahedron with the other soft body is filtered.

virtual void addSoftBodyFilters(PxSoftBody *otherSoftBody, PxU32 *otherTetIndices, PxU32 *tetIndices, PxU32 tetIndicesSize) = 0

Creates collision filters between a tetrahedron in a soft body with another soft body.

Parameters

otherSoftBody – [in] The other soft body actor used for collision filter
otherTetIndices – [in] The indices of the tetrahedron in the other softbody’s collision mesh to be filtered.
tetIndices – [in] The indices of the tetrahedron of the softbody’s collision mesh to be filtered.
tetIndicesSize – [in] The size of tetIndices.

virtual void removeSoftBodyFilters(PxSoftBody *otherSoftBody, PxU32 *otherTetIndices, PxU32 *tetIndices, PxU32 tetIndicesSize) = 0

Removes collision filters between a tetrahedron in a soft body with another soft body.

Parameters

otherSoftBody – [in] The other soft body actor used for collision filter
otherTetIndices – [in] The indices of the tetrahedron in the other softbody’s collision mesh to be filtered.
tetIndices – [in] The indices of the tetrahedron of the softbody’s collision mesh to be filtered.
tetIndicesSize – [in] The size of tetIndices.

virtual PxU32 addSoftBodyAttachment(PxSoftBody *softbody0, PxU32 tetIdx0, const PxVec4 &tetBarycentric0, PxU32 tetIdx1, const PxVec4 &tetBarycentric1, PxConeLimitedConstraint *constraint = NULL) = 0

Creates an attachment between two soft bodies.

This method attaches a point inside a tetrahedron of the collision mesh to a point in another soft body’s tetrahedron collision mesh.

Parameters

softbody0 – [in] The soft body actor used for the attachment
tetIdx0 – [in] The index of a tetrahedron in the other soft body that contains the point to be attached to the soft body
tetBarycentric0 – [in] The barycentric coordinates of the attachment point inside the tetrahedron specified by tetIdx0
tetIdx1 – [in] The index of a tetrahedron in the softbody’s collision mesh that contains the point to be attached to the softbody0
tetBarycentric1 – [in] The barycentric coordinates of the attachment point inside the tetrahedron specified by tetIdx1
constraint – [in] The user defined cone distance limit constraint to limit the movement between tets.

Returns

Returns a handle that identifies the attachment created. This handle can be used to release the attachment later

virtual void removeSoftBodyAttachment(PxSoftBody *softbody0, PxU32 handle) = 0

Releases an attachment between a soft body and the other soft body.

Be aware that destroying the soft body before destroying the attachment is illegal and may cause a crash.

This method removes a previously-created attachment between a point inside a tetrahedron of the collision mesh to a point in another soft body’s tetrahedron collision mesh.

Parameters

softbody0 – [in] The softbody actor used for the attachment.
handle – [in] Index that identifies the attachment. This handle gets returned by the addSoftBodyAttachment when the attachment is created.

virtual void addClothFilter(PxFEMCloth *cloth, PxU32 triIdx, PxU32 tetIdx) = 0

Creates collision filter between a tetrahedron in a soft body and a triangle in a cloth.

Warning

Feature under development, only for internal usage.

Parameters

cloth – [in] The cloth actor used for collision filter
triIdx – [in] The index of the triangle in the cloth mesh to be filtered.
tetIdx – [in] The index of the tetrahedron in the softbody’s collision mesh to be filtered.

virtual void removeClothFilter(PxFEMCloth *cloth, PxU32 triIdx, PxU32 tetIdx) = 0

Removes collision filter between a tetrahedron in a soft body and a triangle in a cloth.

Warning

Feature under development, only for internal usage.

Parameters

cloth – [in] The cloth actor used for collision filter
triIdx – [in] The index of the triangle in the cloth mesh to be filtered.
tetIdx – [in] The index of the tetrahedron in the softbody’s collision mesh to be filtered.

virtual PxU32 addClothAttachment(PxFEMCloth *cloth, PxU32 triIdx, const PxVec4 &triBarycentric, PxU32 tetIdx, const PxVec4 &tetBarycentric, PxConeLimitedConstraint *constraint = NULL) = 0

Creates an attachment between a soft body and a cloth.

Be aware that destroying the rigid body before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the cloth does not.

This method attaches a point inside a tetrahedron of the collision mesh to a cloth.

Warning

Feature under development, only for internal usage.

Parameters

cloth – [in] The cloth actor used for the attachment
triIdx – [in] The index of a triangle in the cloth mesh that contains the point to be attached to the soft body
triBarycentric – [in] The barycentric coordinates of the attachment point inside the triangle specified by triangleIdx
tetIdx – [in] The index of a tetrahedron in the softbody’s collision mesh that contains the point to be attached to the cloth
tetBarycentric – [in] The barycentric coordinates of the attachment point inside the tetrahedron specified by tetIdx
constraint – [in] The user defined cone distance limit constraint to limit the movement between a triangle in the fem cloth and a tet in the soft body.

Returns

Returns a handle that identifies the attachment created. This handle can be used to release the attachment later

virtual void removeClothAttachment(PxFEMCloth *cloth, PxU32 handle) = 0

Releases an attachment between a cloth and a soft body.

Be aware that destroying the cloth before destroying the attachment is illegal and may cause a crash. The soft body keeps track of these attachments but the cloth does not.

This method removes a previously-created attachment between a point inside a collision mesh tetrahedron and a point inside a cloth mesh.

Warning

Feature under development, only for internal usage.

Parameters

cloth – [in] The cloth actor used for the attachment
handle – [in] Index that identifies the attachment. This handle gets returned by the addClothAttachment when the attachment is created

virtual PxBuffer *getSimPositionInvMassCPU() = 0

Access to the vertices of the simulation mesh on the host.

Each element uses 4 float values containing position and inverseMass per vertex [x, y, z, inverseMass] The inverse mass must match the inverse mass in the simVelocityCPU buffer at the same index. A copy of this value is stored in the simVelocityCPU buffer to allow for faster access on the GPU. If the inverse masses in those two buffers don’t match, the simulation may produce wrong results

Allows to access the CPU buffer of the simulation mesh’s vertices

Returns: The buffer that contains the simulation mesh’s vertex positions (x, y, z) and the inverse mass as 4th component

virtual PxBuffer *getKinematicTargetCPU() = 0

Access to the vertices of the simulation mesh on the host.

Each element uses 4 float values containing position and inverseMass per vertex [x, y, z, inverseMass] The inverse mass must match the inverse mass in the simVelocityCPU buffer at the same index. A copy of this value is stored in the simVelocityCPU buffer to allow for faster access on the GPU. If the inverse masses in those two buffers don’t match, the simulation may produce wrong results

Allows to access the CPU buffer of the simulation mesh’s vertices

Returns: The buffer that contains the simulation mesh’s vertex positions (x, y, z) and the inverse mass as 4th component

virtual PxBuffer *getSimVelocityInvMassCPU() = 0

Access to the velocities of the simulation mesh on the host.

Each element uses 4 float values containing velocity and inverseMass per vertex [x, y, z, inverseMass] The inverse mass must match the inverse mass in the simPositionInvMassCPU buffer at the same index. A copy of this value is stored in the simPositionInvMassCPU buffer to allow for faster access on the GPU. If the inverse masses in those two buffers don’t match, the simulation may produce wrong results

Allows to access the CPU buffer of the simulation mesh’s vertices

Returns: The buffer that contains the simulation mesh’s velocities (x, y, z) and the inverse mass as 4th component

virtual PxBuffer *getPositionInvMassCPU() = 0

Access to the vertices of the collision mesh on the host.

Each element uses 4 float values containing position and inverseMass per vertex [x, y, z, inverseMass] The inverse mass on the collision mesh has no effect, it can be set to an arbitrary value.

Allows to access the CPU buffer of the collision mesh’s vertices

Returns: The buffer that contains the collision mesh’s vertex positions (x, y, z) and the inverse mass as 4th component

virtual PxBuffer *getRestPositionInvMassCPU() = 0

Access to the rest vertices of the collision mesh on the host.

Each element uses 4 float values containing position and inverseMass per vertex [x, y, z, inverseMass] The inverse mass on the collision mesh has no effect, it can be set to an arbitrary value.

Allows to access the CPU buffer of the collision mesh’s rest vertices

Returns: The buffer that contains the collision mesh’s rest vertex positions (x, y, z) and the inverse mass as 4th component

virtual PxBounds3 getWorldBounds(float inflation = 1.01f) const = 0

Retrieves the axis aligned bounding box enclosing the soft body.

See also

PxBounds3

Note

It is not allowed to use this method while the simulation is running (except during PxScene::collide(), in PxContactModifyCallback or in contact report callbacks).

Parameters: inflation – [in] Scale factor for computed world bounds. Box extents are multiplied by this value.
Returns: The soft body’s bounding box.

virtual PxU32 getGpuSoftBodyIndex() = 0

Returns the GPU soft body index.

Returns: The GPU index, or 0xFFFFFFFF if the soft body is not in a scene.

inline virtual const char *getConcreteTypeName() const override

Returns string name of dynamic type.

Returns: Class name of most derived type of this object.

virtual PxActorType::Enum getType() const = 0

Retrieves the type of actor.

See also

PxActorType

Returns: The actor type of the actor.

virtual PxScene *getScene() const = 0

Retrieves the scene which this actor belongs to.

See also

PxScene

Returns: Owner Scene. NULL if not part of a scene.

virtual void setName(const char *name) = 0

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

See also

getName()

Parameters: name – [in] String to set the objects name to.

virtual const char *getName() const = 0

Retrieves the name string set with setName().

See also

setName()

Returns: Name string associated with object.

virtual void setActorFlag(PxActorFlag::Enum flag, bool value) = 0

Raises or clears a particular actor flag.

See the list of flags PxActorFlag

Sleeping: Does NOT wake the actor up automatically.

See also

PxActorFlag getActorFlags()

Parameters

flag – [in] The PxActor flag to raise(set) or clear. See PxActorFlag.
value – [in] The boolean value to assign to the flag.

virtual void setActorFlags(PxActorFlags inFlags) = 0

Sets the actor flags.

See the list of flags PxActorFlag

See also

PxActorFlag setActorFlag()

virtual PxActorFlags getActorFlags() const = 0

Reads the PxActor flags.

See the list of flags PxActorFlag

See also

PxActorFlag setActorFlag()

Returns: The values of the PxActor flags.

virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0

Assigns dynamic actors a dominance group identifier.

PxDominanceGroup is a 5 bit group identifier (legal range from 0 to 31).

The PxScene::setDominanceGroupPair() lets you set certain behaviors for pairs of dominance groups. By default every dynamic actor is created in group 0.

Default: 0

Sleeping: Changing the dominance group does NOT wake the actor up automatically.

Parameters: dominanceGroup – [in] The dominance group identifier. Range: [0..31]

virtual PxDominanceGroup getDominanceGroup() const = 0

Retrieves the value set with setDominanceGroup().

Returns: The dominance group of this actor.

virtual void setOwnerClient(PxClientID inClient) = 0

Sets the owner client of an actor.

This cannot be done once the actor has been placed into a scene.

Default: PX_DEFAULT_CLIENT

See also

PxClientID PxScene::createClient()

virtual PxClientID getOwnerClient() const = 0

Returns the owner client that was specified at creation time.

This value cannot be changed once the object is placed into the scene.

See also

PxClientID PxScene::createClient()

virtual PxAggregate *getAggregate() const = 0

Retrieves the aggregate the actor might be a part of.

See also

PxAggregate

Returns: The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate.

template<class T> inline T *is()

template<class T> inline const T *is() const

inline PxType getConcreteType() const

Returns concrete type of object.

See also

PxConcreteType

Returns: PxConcreteType::Enum of serialized object

inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)

Set PxBaseFlag

Parameters

flag – [in] The flag to be set
value – [in] The flags new value

inline void setBaseFlags(PxBaseFlags inFlags)

Set PxBaseFlags

See also

PxBaseFlags

Parameters: inFlags – [in] The flags to be set

inline PxBaseFlags getBaseFlags() const

Returns PxBaseFlags.

See also

PxBaseFlags

Returns: PxBaseFlags

inline virtual bool isReleasable() const

Whether the object is subordinate.

A class is subordinate, if it can only be instantiated in the context of another class.

See also

PxSerialization::isSerializable

Returns: Whether the class is subordinate

Public Members

void *userData: user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Functions

inline PxSoftBody(PxType concreteType, PxBaseFlags baseFlags)

inline PxSoftBody(PxBaseFlags baseFlags)

inline virtual bool isKindOf(const char *name) const override: Returns whether a given type name matches with the type of this instance.

template<class T> inline bool typeMatch() const

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount