Extensions

Classes

Macros

Functions

Namespaces

Structs

Typedefs

Functions

bool 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

  • nbTris – [in] Number of triangles

  • nbVerts – [in] Number of vertices

  • verts – [in] Array of vertices

  • dFaces – [in] Array of dword triangle indices, or null

  • wFaces – [in] Array of word triangle indices, or null

  • normals – [out] Array of computed normals (assumes nbVerts vectors)

  • flip – [in] Flips the normals or not

Returns

True on success.

PxRigidDynamic *PxCloneDynamic(PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidDynamic &body)

create a dynamic body by copying attributes from an existing body

The following properties are copied:

  • shapes

  • actor flags, rigidDynamic flags and rigidDynamic lock flags

  • mass, moment of inertia, and center of mass frame

  • linear and angular velocity

  • linear and angular damping

  • maximum linear velocity

  • maximum angular velocity

  • position and velocity solver iterations

  • maximum depenetration velocity

  • sleep threshold

  • contact report threshold

  • dominance group

  • owner client and client behavior bits

  • name pointer

  • kinematic target

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

  • physicsSDK – [in] PxPhysics - the physics SDK used to allocate the rigid static

  • body – [in] the rigid dynamic to clone.

  • transform – [in] the transform of the new dynamic

Returns

the newly-created rigid static

PxShape *PxCloneShape(PxPhysics &physicsSDK, const PxShape &shape, bool isExclusive)

create a shape by copying attributes from another shape

The function clones a PxShape. The following properties are copied:

  • geometry

  • flags

  • materials

  • actor-local pose

  • contact offset

  • rest offset

  • simulation filter data

  • query filter data

  • torsional patch radius

  • minimum torsional patch radius

The following are not copied and retain their default values:

  • name

  • user data

Parameters

  • physicsSDK – [in] - the physics SDK used to allocate the shape

  • shape – [in] the shape from which to take the attributes.

  • isExclusive – [in] whether the new shape should be an exclusive or shared shape.

Returns

the newly-created rigid static

PxRigidStatic *PxCloneStatic(PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidActor &actor)

create a static body by copying attributes from another rigid actor

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

  • shapes

  • actor flags

  • owner client and client behavior bits

  • dominance group

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

  • physicsSDK – [in] - the physics SDK used to allocate the rigid static

  • actor – [in] the rigid actor from which to take the attributes.

  • transform – [in] the transform of the new static.

Returns

the newly-created rigid static

void PxCloseExtensions()

Shut down the PhysXExtensions library.

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

See also

PxInitExtensions

Note

This function is required to be called to release foundation usage.

bool PxComputeHeightFieldPenetration(PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &heightFieldGeom, const PxTransform &heightFieldPose, PxU32 maxIter, PxU32 *usedIter = NULL)

Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a heightfield. Returned depenetration vector should be applied to ‘geom’, to get out of the heightfield.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object’s center goes inside the heightfield, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

See also

PxGeometry PxTransform PxHeightFieldGeometry

Parameters

  • direction – [out] Computed MTD unit direction

  • depth – [out] Penetration depth. Always positive or zero.

  • geom – [in] The geometry object

  • geomPose – [in] Pose for the geometry object

  • heightFieldGeom – [in] The heightfield geometry

  • heightFieldPose – [in] Pose for the heightfield

  • maxIter – [in] Max number of iterations before returning.

  • usedIter – [out] Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns

True if the MTD has successfully been computed, i.e. if objects do overlap.

bool PxComputeTriangleMeshPenetration(PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 maxIter, PxU32 *usedIter = NULL)

Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a triangle mesh. Returned depenetration vector should be applied to ‘geom’, to get out of the mesh.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object’s center goes inside the mesh, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

See also

PxGeometry PxTransform PxTriangleMeshGeometry

Parameters

  • direction – [out] Computed MTD unit direction

  • depth – [out] Penetration depth. Always positive or zero.

  • geom – [in] The geometry object

  • geomPose – [in] Pose for the geometry object

  • meshGeom – [in] The mesh geometry

  • meshPose – [in] Pose for the mesh

  • maxIter – [in] Max number of iterations before returning.

  • usedIter – [out] Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns

True if the MTD has successfully been computed, i.e. if objects do overlap.

PxBatchQueryExt *PxCreateBatchQueryExt(const PxScene &scene, PxQueryFilterCallback *queryFilterCallback, PxRaycastBuffer *raycastBuffers, const PxU32 maxNbRaycasts, PxRaycastHit *raycastTouches, const PxU32 maxNbRaycastTouches, PxSweepBuffer *sweepBuffers, const PxU32 maxNbSweeps, PxSweepHit *sweepTouches, const PxU32 maxNbSweepTouches, PxOverlapBuffer *overlapBuffers, const PxU32 maxNbOverlaps, PxOverlapHit *overlapTouches, const PxU32 maxNbOverlapTouches)

Create a PxBatchQueryExt with user-supplied result and touch buffers.

Parameters

  • scene – [in] Queries will be performed against objects in the specified PxScene

  • queryFilterCallback – [in] Filtering for all queries is performed using queryFilterCallback. A null pointer results in all shapes being considered.

  • raycastBuffers – [in] This is the array that will be used to store the results of each raycast in a batch.

  • maxNbRaycasts – [in] This is the length of the raycastBuffers array.

  • raycastTouches – [in] This is the array that will be used to store the touches generated by all raycasts in a batch.

  • maxNbRaycastTouches – [in] This is the length of the raycastTouches array.

  • sweepBuffers – [in] This is the array that will be used to store the results of each sweep in a batch.

  • maxNbSweeps – [in] This is the length of the sweepBuffers array.

  • sweepTouches – [in] This is the array that will be used to store the touches generated by all sweeps in a batch.

  • maxNbSweepTouches – [in] This is the length of the sweepTouches array.

  • overlapBuffers – [in] This is the array that will be used to store the results of each overlap in a batch.

  • maxNbOverlaps – [in] This is the length of the overlapBuffers array.

  • overlapTouches – [in] This is the array that will be used to store the touches generated by all overlaps in a batch.

  • maxNbOverlapTouches – [in] This is the length of the overlapTouches array.

Returns

Returns a PxBatchQueryExt instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal. In the event that a NULL pointer is returned a corresponding error will be issued to the error stream.

PxBatchQueryExt *PxCreateBatchQueryExt(const PxScene &scene, PxQueryFilterCallback *queryFilterCallback, const PxU32 maxNbRaycasts, const PxU32 maxNbRaycastTouches, const PxU32 maxNbSweeps, const PxU32 maxNbSweepTouches, const PxU32 maxNbOverlaps, const PxU32 maxNbOverlapTouches)

Create a PxBatchQueryExt without the need for pre-allocated result or touch buffers.

Parameters

  • scene – [in] Queries will be performed against objects in the specified PxScene

  • queryFilterCallback – [in] Filtering for all queries is performed using queryFilterCallback. A null pointer results in all shapes being considered.

  • maxNbRaycasts – [in] A result buffer will be allocated that is large enough to accommodate maxNbRaycasts calls to PxBatchQueryExt::raycast()

  • maxNbRaycastTouches – [in] A touch buffer will be allocated that is large enough to accommodate maxNbRaycastTouches touches for all raycasts in the batch.

  • maxNbSweeps – [in] A result buffer will be allocated that is large enough to accommodate maxNbSweeps calls to PxBatchQueryExt::sweep()

  • maxNbSweepTouches – [in] A touch buffer will be allocated that is large enough to accommodate maxNbSweepTouches touches for all sweeps in the batch.

  • maxNbOverlaps – [in] A result buffer will be allocated that is large enough to accommodate maxNbOverlaps calls to PxBatchQueryExt::overlap()

  • maxNbOverlapTouches – [in] A touch buffer will be allocated that is large enough to accommodate maxNbOverlapTouches touches for all overlaps in the batch.

Returns

Returns a PxBatchQueryExt

instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal.

In the event that a NULL pointer is returned a corresponding error will be issued to the error stream.

PxCustomSceneQuerySystem *PxCreateCustomSceneQuerySystem(PxSceneQueryUpdateMode::Enum sceneQueryUpdateMode, PxU64 contextID, const PxCustomSceneQuerySystemAdapter &adapter, bool usesTreeOfPruners = false)

Creates a custom scene query system.

This is similar to PxCreateExternalSceneQuerySystem, except this function creates a PxCustomSceneQuerySystem object. It can be plugged to PxScene the same way, via PxSceneDesc::sceneQuerySystem.

See also

PxCustomSceneQuerySystem PxSceneQueryUpdateMode PxCustomSceneQuerySystemAdapter PxSceneDesc::sceneQuerySystem

Parameters

  • sceneQueryUpdateMode – [in] Desired update mode

  • contextID – [in] Context ID parameter, sent to the profiler

  • adapter – [in] Adapter class implementing our extended API

  • usesTreeOfPruners – [in] True to keep pruners themselves in a BVH, which might increase query performance if a lot of pruners are involved

Returns

A custom SQ system instance

PxRigidDynamic *PxCreateDynamic(PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset = PxTransform(PxIdentity))

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

See also

PxRigidDynamic PxShapeFlag

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the global pose of the new object

  • geometry – [in] the geometry of the new object’s shape, which must be a sphere, capsule, box or convex

  • material – [in] the material for the new object’s shape

  • density – [in] the density of the new object. Must be greater than zero.

  • shapeOffset – [in] an optional offset for the new shape, defaults to identity

Returns

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

PxRigidDynamic *PxCreateDynamic(PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)

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

See also

PxRigidDynamic PxShapeFlag

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the transform of the new object

  • shape – [in] the shape of the new object

  • density – [in] the density of the new object. Must be greater than zero.

Returns

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

PxSceneQuerySystem *PxCreateExternalSceneQuerySystem(const PxSceneQueryDesc &desc, PxU64 contextID)

Creates an external scene query system.

An external SQ system is the part of a PxScene that deals with scene queries (SQ). This is usually taken care of by an internal implementation inside PxScene, but it is also possible to re-route all SQ calls to an external implementation, potentially opening the door to some customizations in behavior and features for advanced users.

The following external SQ system is an example of how an implementation would look like. It re-uses much of the same code as the internal version, but it could be re-implemented in a completely different way to match users’ specific needs.

See also

PxSceneQuerySystem PxSceneQueryDesc

Parameters

  • desc – [in] Scene query descriptor

  • contextID – [in] Context ID parameter, sent to the profiler

Returns

An external SQ system instance

PxRigidDynamic *PxCreateKinematic(PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)

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

See also

PxRigidDynamic PxShapeFlag

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)

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the global pose of the new object

  • density – [in] the density of the new object. Must be greater than zero if the object is to participate in simulation.

  • shape – [in] the shape of the new object

Returns

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

PxRigidDynamic *PxCreateKinematic(PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset = PxTransform(PxIdentity))

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

See also

PxRigidDynamic PxShapeFlag

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)

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the global pose of the new object

  • geometry – [in] the geometry of the new object’s shape

  • material – [in] the material for the new object’s shape

  • density – [in] the density of the new object. Must be greater than zero if the object is to participate in simulation.

  • shapeOffset – [in] an optional offset for the new shape, defaults to identity

Returns

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

ExtGpu::PxParticleClothCooker *PxCreateParticleClothCooker(PxU32 vertexCount, physx::PxVec4 *inVertices, PxU32 triangleIndexCount, PxU32 *inTriangleIndices, PxU32 constraintTypeFlags = ExtGpu::PxParticleClothConstraint::eTYPE_ALL, PxVec3 verticalDirection = PxVec3(0.0f, 1.0f, 0.0f), PxReal bendingConstraintMaxAngle = 20.0f * PxTwoPi / 360.0f)

Creates a PxParticleClothCooker.

Parameters

  • vertexCount – [in] The number of vertices of the particle cloth.

  • inVertices – [in] The vertex positions of the particle cloth.

  • triangleIndexCount – [in] The number of triangles of the cloth mesh.

  • inTriangleIndices – [in] The triangle indices of the cloth mesh

  • constraintTypeFlags – [in] The types of constraints to generate. See PxParticleClothConstraint.

  • verticalDirection – [in] The vertical direction of the cloth mesh. This is needed to generate the correct horizontal and vertical constraints to model shear stiffness.

  • bendingConstraintMaxAngle – [in] The maximum angle (in radians) considered in the bending constraints.

Returns

A pointer to the new PxParticleClothCooker.

PxRigidStatic *PxCreatePlane(PxPhysics &sdk, const PxPlane &plane, PxMaterial &material)

create a plane actor.

The plane equation is n.x + d = 0

See also

PxRigidStatic

Parameters

  • sdk – [in] the PxPhysics object

  • plane – [in] a plane of the form n.x + d = 0

  • material – [in] the material for the new object’s shape

Returns

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

PxPoissonSampler *PxCreateShapeSampler(const PxGeometry &geometry, const PxTransform &transform, const PxBounds3 &worldBounds, PxReal initialSamplingRadius, PxI32 numSampleAttemptsAroundPoint = 30)

Creates a shape sampler.

Parameters

  • geometry – [in] The shape that defines the surface on which the samples get created

  • transform – [in] The shape’s global pose

  • worldBounds – [in] The shapes bounding box

  • initialSamplingRadius – [in] The closest distance two surface samples are allowed to have

  • numSampleAttemptsAroundPoint – [in] Number of repetitions the underlying algorithm performs to find a new valid sample that matches all criteria like minimal distance to existing samples etc.

Returns

Returns the sampler

PxRigidStatic *PxCreateStatic(PxPhysics &sdk, const PxTransform &transform, PxShape &shape)

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

See also

PxRigidStatic

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the global pose of the new object

  • shape – [in] the new object’s shape

Returns

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

PxRigidStatic *PxCreateStatic(PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, const PxTransform &shapeOffset = PxTransform(PxIdentity))

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

See also

PxRigidStatic

Parameters

  • sdk – [in] the PxPhysics object

  • transform – [in] the global pose of the new object

  • geometry – [in] the geometry of the new object’s shape

  • material – [in] the material for the new object’s shape

  • shapeOffset – [in] an optional offset for the new shape, defaults to identity

Returns

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

PxTriangleMeshPoissonSampler *PxCreateTriangleMeshSampler(const PxU32 *triangles, PxU32 numTriangles, const PxVec3 *vertices, PxU32 numVertices, PxReal initialSamplingRadius, PxI32 numSampleAttemptsAroundPoint = 30)

Creates a triangle mesh sampler.

Parameters

  • triangles – [in] The triangle indices of the mesh

  • numTriangles – [in] The total number of triangles

  • vertices – [in] The vertices of the mesh

  • numVertices – [in] The total number of vertices

  • initialSamplingRadius – [in] The closest distance two surface samples are allowed to have

  • numSampleAttemptsAroundPoint – [in] Number of repetitions the underlying algorithm performs to find a new valid sample that matches all criteria like minimal distance to existing samples etc.

Returns

Returns the sampler

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

Create a D6 joint.

See also

PxD6Joint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

PxJoint *PxD6JointCreate_Distance(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, float maxDist, bool useD6)

Helper function to create a distance joint, using either a PxD6Joint or PxDistanceJoint.

This helper function only supports a maximum distance constraint, because PxD6Joint does not support a minimum distance constraint (contrary to PxDistanceJoint).

The distance is computed between the joint frames’ world-space positions. The joint frames’ orientations are irrelevant here so the function sets them to identity.

See also

PxD6Joint PxDistanceJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • maxDist – [in] The maximum allowed distance

  • useD6 – [in] True to use a PxD6Joint, false to use a PxDistanceJoint;

Returns

The created joint.

PxJoint *PxD6JointCreate_Fixed(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, bool useD6)

Helper function to create a fixed joint, using either a PxD6Joint or PxFixedJoint.

For fixed joints it is important that the joint frames have the same orientation. This helper function uses an identity rotation for both. It is also important that the joint frames have an equivalent position in world space. The function does not check this, so it is up to users to ensure that this is the case.

See also

PxD6Joint PxFixedJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • useD6 – [in] True to use a PxD6Joint, false to use a PxFixedJoint;

Returns

The created joint.

PxJoint *PxD6JointCreate_GenericCone(float &apiroty, float &apirotz, PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, float minLimit1, float maxLimit1, float minLimit2, float maxLimit2, bool useD6)

Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.

This function supports a cone limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric cone. If the angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the cone axis is the X axis in actor0’s space. If the limits are not symmetric, the function rotates the cone axis accordingly so that limits remain symmetric for PhysX. If this happens, the initial joint frames will be different for both actors. By default minLimit1/maxLimit1 are limits around the joint’s Y axis, and minLimit2/maxLimit2 are limits around the joint’s Z axis.

The function creates hard limits, and uses PhysX’s default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-PI;PI[.

The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

The returned apiroty and apirotz values can later be added to retrieved Y and Z swing angle values (from the joint), to remap angle values to the given input range.

See also

PxD6Joint PxSphericalJoint

Parameters

  • apiroty – [out] Amount of rotation around Y used to setup actor0’s joint frame

  • apirotz – [out] Amount of rotation around Z used to setup actor0’s joint frame

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • minLimit1 – [in] Min angular limit along the joint frame’s second axis (first axis = cone axis)

  • maxLimit1 – [in] Max angular limit along the joint frame’s second axis (first axis = cone axis)

  • minLimit2 – [in] Min angular limit along the joint frame’s third axis (first axis = cone axis)

  • maxLimit2 – [in] Max angular limit along the joint frame’s third axis (first axis = cone axis)

  • useD6 – [in] True to use a PxD6Joint, false to use a PxSphericalJoint;

Returns

The created joint.

PxJoint *PxD6JointCreate_Prismatic(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit, float maxLimit, bool useD6)

Helper function to create a prismatic joint, using either a PxD6Joint or PxPrismaticJoint.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired translation axis. This orientation is computed by the function, so users only have to define the desired translation axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The translation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the limits are not enforced and the axis is free. The limit values are computed relative to the position of actor0’s joint frame.

The function creates hard limits, and uses PhysX’s default contact distance parameter.

See also

PxD6Joint PxPrismaticJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • axis – [in] The axis along which objects are allowed to move, expressed in the actors’ local space

  • minLimit – [in] The minimum allowed position along the axis

  • maxLimit – [in] The maximum allowed position along the axis

  • useD6 – [in] True to use a PxD6Joint, false to use a PxPrismaticJoint;

Returns

The created joint.

PxJoint *PxD6JointCreate_Pyramid(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit1, float maxLimit1, float minLimit2, float maxLimit2)

Helper function to create a D6 joint with pyramidal swing limits.

This function supports a pyramid limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric pyramid. If the angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the pyramid axis is the X axis in actor0’s space. By default minLimit1/maxLimit1 are limits around the joint’s Y axis, and minLimit2/maxLimit2 are limits around the joint’s Z axis.

The function creates hard limits, and uses PhysX’s default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-PI;PI[.

The pyramid axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

See also

PxD6Joint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • axis – [in] The pyramid axis, expressed in the actors’ local space

  • minLimit1 – [in] Min angular limit along the joint frame’s second axis (first axis = pyramid axis)

  • maxLimit1 – [in] Max angular limit along the joint frame’s second axis (first axis = pyramid axis)

  • minLimit2 – [in] Min angular limit along the joint frame’s third axis (first axis = pyramid axis)

  • maxLimit2 – [in] Max angular limit along the joint frame’s third axis (first axis = pyramid axis)

Returns

The created joint.

PxJoint *PxD6JointCreate_Revolute(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit, float maxLimit, bool useD6)

Helper function to create a revolute joint, using either a PxD6Joint or PxRevoluteJoint.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired rotation axis. This orientation is computed by the function, so users only have to define the desired rotation axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The rotation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the limits are not enforced and the axis is free. The limit values are computed relative to the rotation of actor0’s joint frame.

The function creates hard limits, and uses PhysX’s default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-2*PI;+2*PI[

See also

PxD6Joint PxRevoluteJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • axis – [in] The axis around which objects are allowed to move, expressed in the actors’ local space

  • minLimit – [in] The minimum allowed rotation along the axis

  • maxLimit – [in] The maximum allowed rotation along the axis

  • useD6 – [in] True to use a PxD6Joint, false to use a PxRevoluteJoint;

Returns

The created joint.

PxJoint *PxD6JointCreate_Spherical(PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float limit1, float limit2, bool useD6)

Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.

This function supports a cone limit shape, defined by a cone axis and two angular limit values.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired cone axis. This orientation is computed by the function, so users only have to define the desired cone axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The rotations can be limited. Limits are enforced if limit1>0 and limit2>0. Otherwise the motion is free. The limit values define an ellipse, which is the cross-section of the cone limit shape.

The function creates hard limits, and uses PhysX’s default contact distance parameter.

Limits are expressed in radians. Allowed range is ]0;PI[. Limits are symmetric around the cone axis.

The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

See also

PxD6Joint PxSphericalJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos0 – [in] The position of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localPos1 – [in] The position of the joint relative to actor1

  • axis – [in] The cone axis, expressed in the actors’ local space

  • limit1 – [in] Max angular limit for the ellipse along the joint frame’s second axis (first axis = cone axis)

  • limit2 – [in] Max angular limit for the ellipse along the joint frame’s third axis (first axis = cone axis)

  • useD6 – [in] True to use a PxD6Joint, false to use a PxSphericalJoint;

Returns

The created joint.

PxDefaultCpuDispatcher *PxDefaultCpuDispatcherCreate(PxU32 numThreads, PxU32 *affinityMasks = NULL, PxDefaultCpuDispatcherWaitForWorkMode::Enum mode = PxDefaultCpuDispatcherWaitForWorkMode::eWAIT_FOR_WORK, PxU32 yieldProcessorCount = 0)

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

See also

PxDefaultCpuDispatcher

Note

numThreads may be zero in which case no worker thread are initialized and simulation tasks will be executed on the thread that calls PxScene::simulate()

Note

yieldProcessorCount must be greater than zero if eYIELD_PROCESSOR is the chosen mode and equal to zero for all other modes.

Note

eYIELD_THREAD and eYIELD_PROCESSOR modes will use compute resources even if the simulation is not running. It is left to users to keep threads inactive, if so desired, when no simulation is running.

Parameters

  • numThreads – [in] Number of worker threads the dispatcher should use.

  • affinityMasks – [in] Array with affinity mask for each thread. If not defined, default masks will be used.

  • mode – [in] is the strategy employed when a busy-wait is encountered.

  • yieldProcessorCount – [in] specifies the number of times a OS-specific yield processor command will be executed during each cycle of a busy-wait in the event that the specified mode is eYIELD_PROCESSOR

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:

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.

See also

PxDistanceJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

bool PxExtractIsosurfaceFromSDF(const PxTriangleMesh &triangleMesh, PxArray<PxVec3> &isosurfaceVertices, PxArray<PxU32> &isosurfaceTriangleIndices)

Extracts an isosurface from the SDF of a mesh if it the SDF is available.

Parameters

  • triangleMesh – [in] The triangle mesh

  • isosurfaceVertices – [out] The vertices of the extracted isosurface

  • isosurfaceTriangleIndices – [out] The triangles of the extracted isosurface

PxU32 PxFindFaceIndex(const PxConvexMeshGeometry &convexGeom, const PxTransform &geomPose, const PxVec3 &impactPos, const PxVec3 &unitDir)

Computes closest polygon of the convex hull geometry for a given impact point and impact direction.

When doing sweeps against a scene, one might want to delay the rather expensive computation of the hit face index for convexes until it is clear the information is really needed and then use this method to get the corresponding face index.

See also

PxTransform PxConvexMeshGeometry

Parameters

  • convexGeom – [in] The convex mesh geometry.

  • geomPose – [in] Pose for the geometry object.

  • impactPos – [in] Impact position.

  • unitDir – [in] Normalized impact direction.

Returns

Closest face index of the convex geometry.

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

Create a fixed joint.

See also

PxFixedJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

PxGearJoint *PxGearJointCreate(PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)

Create a gear Joint.

See also

PxGearJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

bool PxGetFilterBool()

Retrieves filtering’s boolean value.

See comments for PxGroupsMask

See also

PxSetFilterBool PxSetFilterConstants

Returns

flag Boolean value for filter.

void PxGetFilterConstants(PxGroupsMask &c0, PxGroupsMask &c1)

Gets filtering constant K0 and K1.

See comments for PxGroupsMask

See also

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

Parameters

  • c0 – [out] the filtering constants, as a mask. See PxGroupsMask.

  • c1 – [out] the filtering constants, as a mask. See PxGroupsMask.

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

Retrieves filtering operation.

See comments for PxGroupsMask

See also

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

Parameters

  • op0 – [out] First filter operator.

  • op1 – [out] Second filter operator.

  • op2 – [out] Third filter operator.

PxU16 PxGetGroup(const PxActor &actor)

Retrieves the value set with PxSetGroup()

See also

PxSetGroup

Note

Collision group is an integer between 0 and 31.

Parameters

actor – [in] The actor

Returns

The collision group this actor belongs to

bool PxGetGroupCollisionFlag(const PxU16 group1, const PxU16 group2)

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

See also

PxSetGroupCollisionFlag

Note

Collision group is an integer between 0 and 31.

Parameters

  • group1 – [in] First Group

  • group2 – [in] Second Group

Returns

True if the groups could collide

PxGroupsMask PxGetGroupsMask(const PxActor &actor)

Gets 64-bit mask used for collision filtering.

See comments for PxGroupsMask

See also

PxSetGroupsMask()

Parameters

actor – [in] The actor

Returns

The group mask for the actor.

bool PxInitExtensions(physx::PxPhysics &physics, physx::PxPvd *pvd)

Initialize the PhysXExtensions library.

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

See also

PxCloseExtensions PxFoundation PxPhysics

Note

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

Parameters

  • physics – a PxPhysics object

  • pvd – an PxPvd (PhysX Visual Debugger) object

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

Create a prismatic joint.

See also

PxPrismaticJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

PxRackAndPinionJoint *PxRackAndPinionJointCreate(PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)

Create a rack & pinion Joint.

See also

PxRackAndPinionJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

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

Create a revolute joint.

See also

PxRevoluteJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

void PxScaleRigidActor(PxRigidActor &actor, 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

  • actor – [in] a rigid actor

  • scale – [in] the scale by which to multiply the actor. Must be >0.

  • scaleMassProps – [in] whether to scale the mass properties

void PxSetFilterBool(const bool enable)

Setups filtering’s boolean value.

See comments for PxGroupsMask

See also

PxSetFilterOps PxSsetFilterConstants

Parameters

enable – [in] Boolean value for filter.

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

Setups filtering’s K0 and K1 value.

See comments for PxGroupsMask

See also

PxSetFilterOps PxSetFilterBool PxGetFilterConstants

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

Setups filtering operations.

See comments for PxGroupsMask

See also

PxSetFilterBool PxSetFilterConstants

Parameters

  • op0 – [in] Filter op 0.

  • op1 – [in] Filter op 1.

  • op2 – [in] Filter op 2.

void PxSetGroup(PxActor &actor, const PxU16 collisionGroup)

Sets which collision group this actor is part of.

See also

PxGetGroup

Note

Collision group is an integer between 0 and 31.

Parameters

  • actor – [in] The actor

  • collisionGroup – [in] Collision group this actor belongs to

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

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

See also

PxGetGroupCollisionFlag

Note

Collision group is an integer between 0 and 31.

Parameters

  • group1 – [in] First Group

  • group2 – [in] Second Group

  • enable – [in] True to enable collision between the groups

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

Sets 64-bit mask used for collision filtering.

See comments for PxGroupsMask

See also

PxGetGroupsMask()

Parameters

  • actor – [in] The actor

  • mask – [in] The group mask to set for the actor.

void 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

  • wsAnchor – [in] Global frame anchor point. Range: position vector

  • wsAxis – [in] Global frame axis. Range: direction vector

  • joint – [inout] Joint having its global frame set.

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

Create a spherical joint.

See also

PxSphericalJoint

Parameters

  • physics – [in] The physics SDK

  • actor0 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame0 – [in] The position and orientation of the joint relative to actor0

  • actor1 – [in] An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame

  • localFrame1 – [in] The position and orientation of the joint relative to actor1

inline void *platformAlignedAlloc(size_t size)
inline void platformAlignedFree(void *ptr)

Typedefs

typedef PxFlags<PxD6JointDriveFlag::Enum, PxU32> PxD6JointDriveFlags
typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags
typedef FILE *PxFileHandle
typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags
typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags
typedef PxQueryCache PxSceneQueryCache
typedef PxQueryFilterCallback PxSceneQueryFilterCallback
typedef PxQueryFilterData PxSceneQueryFilterData
typedef PxHitFlag PxSceneQueryFlag
typedef PxHitFlags PxSceneQueryFlags
typedef PxQueryHit PxSceneQueryHit
typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags