PxRigidBodyFlag

Defined in include/PxRigidBody.h

struct PxRigidBodyFlag

Collection of flags describing the behavior of a rigid body.

See also

PxRigidBody.setRigidBodyFlag(), PxRigidBody.getRigidBodyFlags()

Public Types

enum Enum

Values:

enumerator eKINEMATIC

Enables kinematic mode for the actor.

Kinematic actors are special dynamic actors that are not influenced by forces (such as gravity), and have no momentum. They are considered to have infinite mass and can be moved around the world using the setKinematicTarget() method. They will push regular dynamic actors out of the way. Kinematics will not collide with static or other kinematic objects.

Kinematic actors are great for moving platforms or characters, where direct motion control is desired.

You can not connect Reduced joints to kinematic actors. Lagrange joints work ok if the platform is moving with a relatively low, uniform velocity.

Sleeping:

  • Setting this flag on a dynamic actor will put the actor to sleep and set the velocities to 0.

  • If this flag gets cleared, the current sleep state of the actor will be kept.

See also

PxRigidDynamic.setKinematicTarget() Enable kinematic mode for the body.

Note

kinematic actors are incompatible with CCD so raising this flag will automatically clear eENABLE_CCD

enumerator eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES

Use the kinematic target transform for scene queries.

If this flag is raised, then scene queries will treat the kinematic target transform as the current pose of the body (instead of using the actual pose). Without this flag, the kinematic target will only take effect with respect to scene queries after a simulation step.

See also

PxRigidDynamic.setKinematicTarget()

enumerator eENABLE_CCD

Enables swept integration for the actor.

If this flag is raised and CCD is enabled on the scene, then this body will be simulated by the CCD system to ensure that collisions are not missed due to high-speed motion. Note individual shape pairs still need to enable PxPairFlag::eDETECT_CCD_CONTACT in the collision filtering to enable the CCD to respond to individual interactions.

Note

kinematic actors are incompatible with CCD so this flag will be cleared automatically when raised on a kinematic actor Enable CCD for the body.

enumerator eENABLE_CCD_FRICTION

Enabled CCD in swept integration for the actor.

If this flag is raised and CCD is enabled, CCD interactions will simulate friction. By default, friction is disabled in CCD interactions because CCD friction has been observed to introduce some simulation artifacts. CCD friction was enabled in previous versions of the SDK. Raising this flag will result in behavior that is a closer match for previous versions of the SDK.

Note

This flag requires PxRigidBodyFlag::eENABLE_CCD to be raised to have any effect.

enumerator eENABLE_SPECULATIVE_CCD

Register a rigid body to dynamically adjust contact offset based on velocity.

This can be used to achieve a CCD effect.

If both eENABLE_CCD and eENABLE_SPECULATIVE_CCD are set on the same body, then angular motions are handled by speculative contacts (eENABLE_SPECULATIVE_CCD) while linear motions are handled by sweeps (eENABLE_CCD).

enumerator eENABLE_POSE_INTEGRATION_PREVIEW

Register a rigid body for reporting pose changes by the simulation at an early stage.

Sometimes it might be advantageous to get access to the new pose of a rigid body as early as possible and not wait until the call to fetchResults() returns. Setting this flag will schedule the rigid body to get reported in PxSimulationEventCallback::onAdvance(). Please refer to the documentation of that callback to understand the behavior and limitations of this functionality.

See also

PxSimulationEventCallback::onAdvance()

enumerator eENABLE_CCD_MAX_CONTACT_IMPULSE

Permit CCD to limit maxContactImpulse.

This is useful for use-cases like a destruction system but can cause visual artefacts so is not enabled by default.

enumerator eRETAIN_ACCELERATIONS

Carries over forces/torques between frames, rather than clearing them.

If this flag is raised, forces and torques will carry over between frames. Impulses applied with PxForceMode::eIMPULSE will not be retained.

See also

PxRigidBody::addForce(), PxRigidBody::AddTorque(), PxRigidBody::setForceAndTorque(), PxRigidBody::clearForce(), PxRigidBody::clearTorque()

Note

Clearing this flag will retain the accelerations for an additional frame before clearing them. To reset the forces immediately for the next frame, a call to PxRigidBody::clearForce() / PxRigidBody::clearTorque() is needed.

enumerator eFORCE_KINE_KINE_NOTIFICATIONS

Forces kinematic-kinematic pairs notifications for this actor.

This flag overrides the global scene-level PxPairFilteringMode setting for kinematic actors. This is equivalent to having PxPairFilteringMode::eKEEP for pairs involving this actor.

A particular use case is when you have a large amount of kinematic actors, but you are only interested in interactions between a few of them. In this case it is best to use PxSceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKILL, and then raise the eFORCE_KINE_KINE_NOTIFICATIONS flag on the small set of kinematic actors that need notifications.

See also

PxPairFilteringMode PxSceneDesc.kineKineFilteringMode

Note

This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.

Warning

Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.

enumerator eFORCE_STATIC_KINE_NOTIFICATIONS

Forces static-kinematic pairs notifications for this actor.

Similar to eFORCE_KINE_KINE_NOTIFICATIONS, but for static-kinematic interactions.

See also

PxPairFilteringMode PxSceneDesc.staticKineFilteringMode

Note

This has no effect if PxRigidBodyFlag::eKINEMATIC is not set.

Warning

Changing this flag at runtime will not have an effect until you remove and re-add the actor to the scene.

enumerator eENABLE_GYROSCOPIC_FORCES

Enables computation of gyroscopic forces on the rigid body.

enumerator eRESERVED

Reserved for internal usage.