PxRigidActor
Defined in include/PxRigidActor.h
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class PxRigidActor : public PxActor
PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK.
PxRigidActor objects specify the geometry of the object by defining a set of attached shapes (see PxShape).
See also
Subclassed by PxRigidBody, PxRigidStatic
Global Pose Manipulation
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virtual PxTransform getGlobalPose() const = 0
Retrieves the actors world space transform.
The getGlobalPose() method retrieves the actor’s current actor space to world space transformation.
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).
- Returns
Global pose of object.
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virtual void setGlobalPose(const PxTransform &pose, bool autowake = true) = 0
Method for setting an actor’s pose in the world.
This method instantaneously changes the actor space to world space transformation.
This method is mainly for dynamic rigid bodies (see PxRigidDynamic). Calling this method on static actors is likely to result in a performance penalty, since internal optimization structures for static actors may need to be recomputed. In addition, moving static actors will not interact correctly with dynamic actors or joints.
To directly control an actor’s position and have it correctly interact with dynamic bodies and joints, create a dynamic body with the PxRigidBodyFlag::eKINEMATIC flag, then use the setKinematicTarget() commands to define its path.
Even when moving dynamic actors, exercise restraint in making use of this method. Where possible, avoid:
moving actors into other actors, thus causing overlap (an invalid physical state)
moving an actor that is connected by a joint to another away from the other (thus causing joint error)
See also
Note
It is not allowed to use this method if the actor is part of a PxPruningStructure that has not been added to a scene yet.
- Parameters
pose – [in] Transformation from the actors local frame to the global frame. Range: rigid body transform.
autowake – [in] whether to wake the object if it is dynamic. This parameter has no effect for static or kinematic actors. If true and the current wake counter value is smaller than PxSceneDesc::wakeCounterResetValue it will get increased to the reset value.
Shapes
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virtual bool attachShape(PxShape &shape) = 0
Attach a shape to an actor.
This call will increment the reference count of the shape.
Attaching a triangle mesh, heightfield or plane geometry shape configured as eSIMULATION_SHAPE is not supported for non-kinematic PxRigidDynamic instances.
Sleeping: Does NOT wake the actor up automatically.
Note
Mass properties of dynamic rigid actors will not automatically be recomputed to reflect the new mass distribution implied by the shape. Follow this call with a call to the PhysX extensions method PxRigidBodyExt::updateMassAndInertia() to do that.
- Parameters
shape – [in] the shape to attach.
- Returns
True if success.
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virtual void detachShape(PxShape &shape, bool wakeOnLostTouch = true) = 0
Detach a shape from an actor.
This will also decrement the reference count of the PxShape, and if the reference count is zero, will cause it to be deleted.
Sleeping: Does NOT wake the actor up automatically.
- Parameters
shape – [in] the shape to detach.
wakeOnLostTouch – [in] Specifies whether touching objects from the previous frame should get woken up in the next frame. Only applies to PxArticulationReducedCoordinate and PxRigidActor types.
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virtual PxU32 getNbShapes() const = 0
Returns the number of shapes assigned to the actor.
You can use getShapes() to retrieve the shape pointers.
See also
- Returns
Number of shapes associated with this actor.
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virtual PxU32 getShapes(PxShape **userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0
Retrieve all the shape pointers belonging to the actor.
These are the shapes used by the actor for collision detection.
You can retrieve the number of shape pointers by calling getNbShapes()
Note: Removing shapes with PxShape::release() will invalidate the pointer of the released shape.
See also
- Parameters
userBuffer – [out] The buffer to store the shape pointers.
bufferSize – [in] Size of provided user buffer.
startIndex – [in] Index of first shape pointer to be retrieved
- Returns
Number of shape pointers written to the buffer.
Constraints
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virtual PxU32 getNbConstraints() const = 0
Returns the number of constraint shaders attached to the actor.
You can use getConstraints() to retrieve the constraint shader pointers.
See also
- Returns
Number of constraint shaders attached to this actor.
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virtual PxU32 getConstraints(PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0
Retrieve all the constraint shader pointers belonging to the actor.
You can retrieve the number of constraint shader pointers by calling getNbConstraints()
Note: Removing constraint shaders with PxConstraint::release() will invalidate the pointer of the released constraint.
- Parameters
userBuffer – [out] The buffer to store the constraint shader pointers.
bufferSize – [in] Size of provided user buffer.
startIndex – [in] Index of first constraint pointer to be retrieved
- Returns
Number of constraint shader pointers written to the buffer.
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inline PxRigidActor(PxType concreteType, PxBaseFlags baseFlags)
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inline PxRigidActor(PxBaseFlags baseFlags)
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inline virtual ~PxRigidActor()
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inline virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
Public Functions
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virtual void release() = 0
Deletes the rigid actor object.
Also releases any shapes associated with the actor.
Releasing an actor will affect any objects that are connected to the actor (constraint shaders like joints etc.). Such connected objects will be deleted upon scene deletion, or explicitly by the user by calling release() on these objects. It is recommended to always remove all objects that reference actors before the actors themselves are removed. It is not possible to retrieve list of dead connected objects.
Sleeping: This call will awaken any sleeping actors contacting the deleted actor (directly or indirectly).
Calls PxActor::release() so you might want to check the documentation of that method as well.
See also
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virtual PxU32 getInternalActorIndex() const = 0
Returns the internal actor index.
Warning
This is only defined for actors that have been added to a scene.
- Returns
The internal actor index, or 0xffffffff if the actor is not part of a scene.
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virtual PxActorType::Enum getType() const = 0
Retrieves the type of actor.
See also
- Returns
The actor type of the actor.
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virtual PxScene *getScene() const = 0
Retrieves the scene which this actor belongs to.
See also
- Returns
Owner Scene. NULL if not part of a scene.
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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
- Parameters
name – [in] String to set the objects name to.
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virtual const char *getName() const = 0
Retrieves the name string set with setName().
See also
- Returns
Name string associated with object.
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virtual PxBounds3 getWorldBounds(float inflation = 1.01f) const = 0
Retrieves the axis aligned bounding box enclosing the actor.
See also
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 actor’s bounding box.
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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
- Parameters
flag – [in] The PxActor flag to raise(set) or clear. See PxActorFlag.
value – [in] The boolean value to assign to the flag.
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virtual void setActorFlags(PxActorFlags inFlags) = 0
Sets the actor flags.
See the list of flags PxActorFlag
See also
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virtual PxActorFlags getActorFlags() const = 0
Reads the PxActor flags.
See the list of flags PxActorFlag
See also
- Returns
The values of the PxActor flags.
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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]
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virtual PxDominanceGroup getDominanceGroup() const = 0
Retrieves the value set with setDominanceGroup().
- Returns
The dominance group of this actor.
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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()
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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()
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virtual PxAggregate *getAggregate() const = 0
Retrieves the aggregate the actor might be a part of.
See also
- Returns
The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate.
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virtual const char *getConcreteTypeName() const = 0
Returns string name of dynamic type.
- Returns
Class name of most derived type of this object.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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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
- Returns
Whether the class is subordinate
Public Members
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Protected Functions
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template<class T>
inline bool typeMatch() const
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virtual PxTransform getGlobalPose() const = 0