PxDeformableSurface
Defined in include/PxDeformableSurface.h
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class PxDeformableSurface : public PxDeformableBody
Represents a deformable surface.
The deformable surface feature is exclusively supported on GPU. The full GPU pipeline needs to be enabled in order to make use of deformable bodies, see PxSceneFlag::eENABLE_GPU_DYNAMICS, PxBroadPhaseType::eGPU.
Environment ID
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virtual bool setEnvironmentID(PxU32 envID) = 0
Sets the environment ID for this actor.
The environment ID is an extra built-in filter group for the GPU broadphase. Actors will only collide with each-other if they have the same environment ID.
The default value is PX_INVALID_U32. Actors with this ID will collide with other actors, regardless of which environment they are a part of.
The environment ID must be set before adding the actor to a scene, and cannot change while the actor is in the scene.
If it is not PX_INVALID_U32, the environment ID must be smaller than 1<<24, i.e. the system does not support more than 1<<24 environments.
Default: PX_INVALID_U32
See also
getEnvironmentID()
Note
This is not available for CPU broadphases.
- Parameters
envID – [in] Environment ID for this actor.
- Returns
True if success.
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virtual PxU32 getEnvironmentID() const = 0
Returns the environment ID for this actor.
See also
setEnvironmentID()
- Returns
Environment ID for this actor.
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Public Functions
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virtual void setDeformableSurfaceFlag(PxDeformableSurfaceFlag::Enum flag, bool val) = 0
Raises or clears a particular deformable surface flag.
See the list of flags PxDeformableSurfaceFlag
Default: No flags are set
- Parameters
flag – [in] The PxDeformableSurfaceFlag to raise(set) or clear. See PxDeformableSurfaceFlag.
val – [in] The new boolean value for the flag.
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virtual void setDeformableSurfaceFlags(PxDeformableSurfaceFlags flags) = 0
Sets deformable surface flags.
See the list of flags PxDeformableSurfaceFlag
Default: No flags are set
- Parameters
flags – [in] The PxDeformableSurfaceFlags to set.
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virtual PxDeformableSurfaceFlags getDeformableSurfaceFlags() const = 0
Reads the deformable surface flags.
See the list of flags PxDeformableSurfaceFlag
See also
setDeformableSurfaceFlag()
- Returns
The values of the deformable surface flags.
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virtual void setNbCollisionPairUpdatesPerTimestep(const PxU32 frequency) = 0
Sets the number of collision pair updates per timestep.
Collision pair is updated at least once per timestep and increasing the frequency provides better collision pairs. Default: 1
See also
getNbCollisionPairUpdatesPerTimestep()
- Parameters
frequency – [in] It sets the number of collision pair updates per timestep.
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virtual PxU32 getNbCollisionPairUpdatesPerTimestep() const = 0
Retrieves number of collision pair updates per timestep.
See also
setNbCollisionPairUpdatesPerTimestep()
- Returns
The number of collision pair updates per timestep.
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virtual void setNbCollisionSubsteps(const PxU32 frequency) = 0
Sets the number of collision substeps in each sub-timestep.
Collision constraints can be applied multiple times in each sub-timestep Default: 1
See also
getNbCollisionSubsteps()
- Parameters
frequency – [in] It sets the number of collision substeps in each sub-timestep.
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virtual PxU32 getNbCollisionSubsteps() const = 0
Retrieves the number of collision substeps in each sub-timestep.
See also
setNbCollisionSubsteps()
- Returns
The number of collision substeps in each sub-timestep.
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virtual PxVec4 *getPositionInvMassBufferD() = 0
Gets a pointer to a device buffer containing positions and inverse masses of the surface deformable.
This function returns a pointer to device memory for the positions and inverse masses of the surface deformable. The device memory buffer is used to both initialize/update the vertices of the surface deformable and read the simulation results.
The simulation expects 4 consecutive floats for each vertex, aligned to a 16B boundary. The first 3 floats specify the positions and the last float specifies the inverse mass of the vertex. The size of the buffer is the number of vertices of the surface deformable mesh * sizeof(PxVec4).
The device memory pointed to by this pointer is allocated when a shape is attached to the deformable surface. Calling
PxDeformableSurface::detachShape() will deallocate the memory.See also
PxTriangleMesh::getNbVertices().
It is not allowed to write to this buffer from the start of the PxScene::simulate() call until PxScene::fetchResults() returns. Reading the data is allowed once all the PhysX tasks have finished, reading the data during a completion task is explicitly allowed. The simulation will read and write directly from/into this buffer.
It is the users’ responsibility to initialize this buffer with the initial positions of the vertices of the surface deformable mesh.
Note
It is mandatory to call PxDeformableSurface::markDirty() with PxDeformableSurfaceDataFlag::ePOSITION_INVMASS when updating data in this buffer.
- Returns
PxVec4* A pointer to a device buffer containing positions and inverse masses of the surface deformable mesh.
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virtual PxVec4 *getVelocityBufferD() = 0
Gets a pointer to a device buffer containing velocities of the deformable surface.
This function returns a pointer to device memory for the velocities of the deformable surface. This buffer is used to both initialize/update the vertices of the surface deformable and read the simulation results.
The simulation expects 4 consecutive floats for each vertex, aligned to a 16B boundary. The first 3 floats specify the velocity of the vertex. The final float is unused. The size of the buffer is the number of vertices of the surface deformable mesh * sizeof(PxVec4).
The device memory pointed to by this pointer is allocated when a shape is attached to the deformable surface. Calling
PxDeformableSurface::detachShape() will deallocate the memory.See also
PxTriangleMesh::getNbVertices().
It is not allowed to write to this buffer from the start of the PxScene::simulate() call until PxScene::fetchResults() returns. Reading the data is allowed once all the PhysX tasks have finished, reading the data during a completion task is explicitly allowed. The simulation will read and write directly from/into this buffer.
It is the users’ responsibility to initialize this buffer with the initial velocities of the vertices of the surface deformable mesh.
Note
It is mandatory to call PxDeformableSurface::markDirty() with PxDeformableSurfaceDataFlag::eVELOCITY when updating data in this buffer.
- Returns
PxVec4* A pointer to a device buffer containing the velocities of the surface deformable mesh.
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virtual PxVec4 *getRestPositionBufferD() = 0
Gets a pointer to a device buffer containing the rest positions of the deformable surface.
This function returns a pointer to device memory for the rest positions of the deformable surface. This buffer is used to initialize/update the rest positions of the vertices of the deformable surface.
The simulation expects 4 consecutive floats for each vertex, aligned to a 16B boundary. The first 3 specify the rest position. The last float is unused. The size of the buffer is the number of vertices of the surface deformable mesh * sizeof(PxVec4).
The device memory pointed to by this pointer is allocated when a shape is attached to the deformable surface. Calling
PxDeformableSurface::detachShape() will deallocate the memory.See also
PxTriangleMesh::getNbVertices().
It is not allowed to write to this buffer from the start of the PxScene::simulate() call until PxScene::fetchResults() returns. Reading the data is allowed once all the PhysX tasks have finished, reading the data during a completion task is explicitly allowed. The simulation will read directly from this buffer.
It is the users’ responsibility to initialize this buffer with the initial rest positions of the vertices of the surface deformable mesh.
Note
It is mandatory to call PxDeformableSurface::markDirty() with PxDeformableSurfaceDataFlag::eREST_POSITION when updating data in this buffer.
- Returns
PxVec4* A pointer to a device buffer containing the rest positions of the surface deformable mesh.
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virtual void markDirty(PxDeformableSurfaceDataFlags flags) = 0
Marks per-vertex simulation state and configuration buffers dirty to signal to the simulation that changes have been made.
Calling this function is required to notify the simulation of changes made in the positionInvMass, velocity and rest position buffers.
This function can be called multiple times, and dirty flags are accumulated internally until PxScene::simulate() is called.
See also
getPositionInvMassBufferD, getVelocityBufferD, getRestPositionBufferD
- Parameters
flags – The buffers that have been updated.
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inline virtual const char *getConcreteTypeName() const final override
Gets the concrete type name.
- Returns
The name of the concrete type.
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virtual void setDeformableBodyFlag(PxDeformableBodyFlag::Enum flag, bool val) = 0
Raises or clears a particular deformable body flag.
See the list of flags PxDeformableBodyFlag
Default: No flags are set
- Parameters
flag – [in] The PxDeformableBodyFlag to raise(set) or clear. See PxDeformableBodyFlag.
val – [in] The new boolean value for the flag.
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virtual void setDeformableBodyFlags(PxDeformableBodyFlags flags) = 0
Sets deformable body flags.
See the list of flags PxDeformableBodyFlag
Default: No flags are set
- Parameters
flags – [in] The PxDeformableBodyFlags to set.
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virtual PxDeformableBodyFlags getDeformableBodyFlags() const = 0
Reads the deformable body flags.
See the list of flags PxDeformableBodyFlag
See also
setDeformableBodyFlag()
- Returns
The values of the deformable body flags.
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virtual void setLinearDamping(const PxReal linearDamping) = 0
Sets the linear damping parameter.
After every timestep the velocity is reduced while the magnitude of the reduction depends on the linearDamping value.
See also
PxRigidBody.setLinearDamping Default: 0.05
- Parameters
linearDamping – [in] The linear damping parameter
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virtual PxReal getLinearDamping() const = 0
Retrieves linear velocity damping parameter.
See also
setLinearDamping
- Returns
The linear damping parameter
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virtual void setMaxVelocity(const PxReal maxVelocity) = 0
Sets the maximal velocity vertices can reach.
Allows to limit the vertices’ maximal velocity to control the maximal distance a vertex can move per frame Default: 0.0, which means the limit is ignored.
- Parameters
maxVelocity – [in] The maximal velocity
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virtual PxReal getMaxVelocity() const = 0
Retrieves maximal velocity a vertex can have.
- Returns
The maximal velocity
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virtual void setMaxDepenetrationVelocity(const PxReal maxDepenetrationVelocity) = 0
Sets the maximal depenetration velocity vertices can reach.
Allows to limit the vertices’ maximal depenetration velocity to avoid that collision responses lead to very high particle velocities Default: 0.0, which means the limit is ignored.
- Parameters
maxDepenetrationVelocity – [in] The maximal depenetration velocity
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virtual PxReal getMaxDepenetrationVelocity() const = 0
Retrieves maximal depenetration velocity a vertex can have.
- Returns
The maximal depenetration velocity
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virtual void setSelfCollisionFilterDistance(const PxReal selfCollisionFilterDistance) = 0
Sets the self collision filter distance.
Penetration distance that needs to be exceeded before contacts for self collision are generated. Will only have an effect if self collisions are enabled. Default: 0.1
- Parameters
selfCollisionFilterDistance – [in] The self collision filter distance
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virtual PxReal getSelfCollisionFilterDistance() const = 0
Retrieves the self collision filter distance.
See also
setSelfCollisionFilterDistance
- Returns
The self collision filter distance
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virtual void setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0
Sets the solver iteration count for the deformable body.
Since deformables are currently implemented using an XPBD solver (extended position based dynamics), minVelocityIters is ignored. Default: 4 position iterations, 1 velocity iteration
See also
getSolverIterationCounts()
- Parameters
minPositionIters – [in] Number of position iterations the solver should perform for this deformable body. Range: [1,255]
minVelocityIters – [in] Number of velocity iterations, currently ignored. Range: [1,255]
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virtual void getSolverIterationCounts(PxU32 &minPositionIters, PxU32 &minVelocityIters) const = 0
Retrieves the solver iteration counts.
See also
setSolverIterationCounts()
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virtual void setSleepThreshold(const PxReal sleepThreshold) = 0
Sets the threshold controlling sleeping of the deformable body.
Threshold that defines the maximal magnitude of the linear motion a deformable body can move in one second before it becomes a candidate for sleeping.
See also
PxRigidDynamic.setSleepThreshold Default: 0.05
- Parameters
sleepThreshold – [in] The sleep threshold
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virtual PxReal getSleepThreshold() const = 0
Retrieves the sleep threshold.
See also
setSleepThreshold
- Returns
The sleep threshold
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virtual void setSettlingThreshold(const PxReal settlingThreshold) = 0
Sets the threshold controlling settling phase before sleeping of the deformable body.
Threshold that defines the maximal magnitude of the linear motion a deformable body can move in one second before it becomes a candidate for sleeping and settling damping is engaged. The settling threshold needs to be higher than the sleep threshold. Default: 0.1
See also
setSettlingDamping
- Parameters
settlingThreshold – [in] The settling threshold
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virtual PxReal getSettlingThreshold() const = 0
Retrieves the settling threshold.
See also
setSettlingThreshold
- Returns
The settling threshold
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virtual void setSettlingDamping(const PxReal settlingDamping) = 0
Sets the damping parameter used for settling phase.
If the maximum linear velocity of the deformable body falls below the settling threshold, the deformable body enters the settling phase in which the settling damping is applied.
Default: 10.0
See also
setLinearDamping, setSettlingThreshold
- Parameters
settlingDamping – [in] The settling damping
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virtual PxReal getSettlingDamping() const = 0
Retrieves settling damping parameter.
See also
setSettlingDamping
- Returns
The settling damping parameter
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virtual void setWakeCounter(PxReal wakeCounterValue) = 0
Sets the wake counter for the deformable body.
The wake counter value determines the minimum amount of time until the deformable body can be put to sleep. Please note that a deformable 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 deformable body up automatically.
- Parameters
wakeCounterValue – [in] Wake counter value. Range: [0, PX_MAX_F32)
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virtual PxReal getWakeCounter() const = 0
Returns the wake counter of the deformable body.
See also
isSleeping() setWakeCounter()
- Returns
The wake counter of the deformable body.
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virtual bool isSleeping() const = 0
Returns true if this deformable 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 deformable volume can only go to sleep if all vertices are ready for sleeping. A deformable 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.
The wake counter is zero.
The linear velocity of all vertices is zero.
See also
isSleeping()
Note
It is invalid to use this method if the deformable body has not been added to a scene already.
- Returns
True if the deformable body is sleeping.
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virtual PxShape *getShape() = 0
Retrieve a shape pointer belonging to the actor.
See also
PxShape getNbShapes() PxShape::release()
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virtual bool attachShape(PxShape &shape) = 0
Attaches a shape.
Attaches the shape to use for collision detection for deformable surfaces and volumes. Each deformable needs to have exactly one exclusive shape attached for simulation. If a shape has already been attached to a deformable, detachShape needs to be called prior to attaching a new shape.
Deformable surfaces need a shape with triangle mesh geometry, which can be created with PxPhysics::createShape(const PxGeometry&, const PxDeformableSurfaceMaterial& material, bool, PxShapeFlags), or PxPhysics::createShape(const PxGeometry&, PxDeformableSurfaceMaterial*const*, PxU16, bool, PxShapeFlags) Deformable surfaces use the same triangle mesh for collision detection and dynamics computations.
Deformable volumes need a shape with tetrahedron mesh geometry, which can be created with PxPhysics::createShape(const PxGeometry&, const PxDeformableVolumeMaterial& material, bool, PxShapeFlags), or PxPhysics::createShape(const PxGeometry&, PxDeformableVolumeMaterial*const*, PxU16, bool, PxShapeFlags) Deformable volumes additionally need a separate tetrahedron mesh for dynamics, which can be attached using PxDeformbleVolume::attachSimulationMesh.
- Parameters
shape – [in] The shape to use for collisions, (and dynamics in case of deformable surfaces)
- Returns
Returns true if the operation was successful
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virtual void detachShape() = 0
Detaches the shape.
Detaches the shape used for collision detection.
See also
void PxDeformableVolume.detachSimulationMesh()
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virtual PxCudaContextManager *getCudaContextManager() const = 0
Returns the cuda context manager.
- Returns
The cuda context manager
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virtual void setParameter(const PxFEMParameters ¶ms) = 0
Deprecated: Sets parameters for FEM internal solve.
See also
getParameter()
- Parameters
params – [in] parameters
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virtual PxFEMParameters getParameter() const = 0
Deprecated: Gets parameters for FEM internal solve.
See also
setParameter()
- Returns
parameters
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virtual void release() = 0
Deletes the actor.
Do not keep a reference to the deleted instance.
If the actor belongs to a PxAggregate object, it is automatically removed from the aggregate.
See also
PxBase.release(), PxAggregate
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virtual PxActorType::Enum getType() const = 0
Retrieves the type of actor.
See also
PxActorType
- 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
PxScene
- 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
getName()
- 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
setName()
- 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
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 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
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.
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virtual void setActorFlags(PxActorFlags inFlags) = 0
Sets the actor flags.
See the list of flags PxActorFlag
See also
PxActorFlag setActorFlag()
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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.
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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.
See also
getDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
- 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().
See also
setDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
- 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
PxAggregate
- Returns
The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
PxConcreteType
- 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
PxSerialization::isSerializable
- Returns
Whether the class is subordinate
Protected Functions
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inline PxDeformableSurface(PxType concreteType, PxBaseFlags baseFlags)
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inline PxDeformableSurface(PxBaseFlags baseFlags)
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inline virtual ~PxDeformableSurface()
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inline virtual bool isKindOf(const char *name) const override
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const
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virtual bool setEnvironmentID(PxU32 envID) = 0