PxCustomGeometry

Defined in include/geometry/PxCustomGeometry.h

Structs

Callbacks

Custom geometry callbacks structure.

Type

The type of a custom geometry.

class PxCustomGeometry : public PxGeometry

Custom geometry class.

This class allows user to create custom geometries by providing a set of virtual callback functions.

Public Functions

inline PxCustomGeometry()

Default constructor.

Creates an empty object with a NULL callbacks pointer.

inline PxCustomGeometry(Callbacks &_callbacks)

Constructor.

inline PxCustomGeometry(const PxCustomGeometry &that)

Copy constructor.

Parameters:

that – [in] Other object

inline void operator=(const PxCustomGeometry &that)

Assignment operator.

inline bool isValid() const

Returns true if the geometry is valid.

See also

PxPhysics::createShape

Returns:

True if the current settings are valid for shape creation.

inline Type getCustomType() const

Returns the custom type of the custom geometry.

inline PxGeometryType::Enum getType() const

Returns the type of the geometry.

Returns:

The type of the object.

Public Members

Callbacks *callbacks

A reference to the callbacks object.

float mTypePadding

Public Static Functions

static PxU32 getUniqueID()

For internal use.

Protected Attributes

PxGeometryType::Enum mType

struct Callbacks

Custom geometry callbacks structure.

User should inherit this and implement all pure virtual functions.

Public Functions

virtual Type getCustomType() const = 0

Return custom type.

The type purpose is for user to differentiate custom geometries. Not used by PhysX.

Note

User should use DECLARE_CUSTOM_GEOMETRY_TYPE and IMPLEMENT_CUSTOM_GEOMETRY_TYPE intead of overwriting this function.

Returns:

Unique ID of a custom geometry type.

virtual PxBounds3 getLocalBounds(const PxGeometry &geometry) const = 0

Return local bounds.

Parameters:

geometry – [in] This geometry.

Returns:

Bounding box in the geometry local space.

virtual bool generateContacts(

const PxGeometry &geom0,

const PxGeometry &geom1,

const PxTransform &pose0,

const PxTransform &pose1,

const PxReal contactDistance,

const PxReal meshContactMargin,

const PxReal toleranceLength,

PxContactBuffer &contactBuffer,

) const = 0

Contacts generation.

Generate collision contacts between two geometries in given poses.

Parameters:

• geom0 – [in] This custom geometry

• geom1 – [in] The other geometry

• pose0 – [in] This custom geometry pose

• pose1 – [in] The other geometry pose

• contactDistance – [in] The distance at which contacts begin to be generated between the pairs

• meshContactMargin – [in] The mesh contact margin.

• toleranceLength – [in] The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units

• contactBuffer – [out] A buffer to write contacts to.

Returns:

True if there are contacts. False otherwise.

virtual PxU32 raycast(

const PxVec3 &origin,

const PxVec3 &unitDir,

const PxGeometry &geom,

const PxTransform &pose,

PxReal maxDist,

PxHitFlags hitFlags,

PxU32 maxHits,

PxGeomRaycastHit *rayHits,

PxU32 stride,

PxRaycastThreadContext *threadContext,

) const = 0

Raycast.

Cast a ray against the geometry in given pose.

Parameters:

• origin – [in] Origin of the ray.

• unitDir – [in] Normalized direction of the ray.

• geom – [in] This custom geometry

• pose – [in] This custom geometry pose

• maxDist – [in] Length of the ray. Has to be in the [0, inf) range.

• hitFlags – [in] Specifies which properties per hit should be computed and returned via the hit callback.

• maxHits – [in] max number of returned hits = size of ‘rayHits’ buffer

• rayHits – [out] Ray hits.

• stride – [in] Ray hit structure stride.

• threadContext – [in] Optional user-defined per-thread context.

Returns:

Number of hits.

virtual bool overlap(

const PxGeometry &geom0,

const PxTransform &pose0,

const PxGeometry &geom1,

const PxTransform &pose1,

PxOverlapThreadContext *threadContext,

) const = 0

Overlap.

Test if geometries overlap.

Parameters:

• geom0 – [in] This custom geometry

• pose0 – [in] This custom geometry pose

• geom1 – [in] The other geometry

• pose1 – [in] The other geometry pose

• threadContext – [in] Optional user-defined per-thread context.

Returns:

True if there is overlap. False otherwise.

virtual bool sweep(

const PxVec3 &unitDir,

const PxReal maxDist,

const PxGeometry &geom0,

const PxTransform &pose0,

const PxGeometry &geom1,

const PxTransform &pose1,

PxGeomSweepHit &sweepHit,

PxHitFlags hitFlags,

const PxReal inflation,

PxSweepThreadContext *threadContext,

) const = 0

Sweep.

Sweep geom1 against geom0.

Parameters:

• unitDir – [in] Normalized direction of the sweep. geom1 is swept along this direction.

• maxDist – [in] Length of the sweep. Has to be in the [0, inf) range.

• geom0 – [in] This custom geometry

• pose0 – [in] This custom geometry pose

• geom1 – [in] The other geometry

• pose1 – [in] The other geometry pose

• sweepHit – [out] Used to report the sweep hit.

• hitFlags – [in] Specifies which properties per hit should be computed and returned via the hit callback.

• inflation – [in] This parameter creates a skin around the swept geometry which increases its extents for sweeping.

• threadContext – [in] Optional user-defined per-thread context.

Returns:

True if there is hit. False otherwise.

virtual void visualize(

const PxGeometry &geometry,

PxRenderOutput &out,

const PxTransform &absPose,

const PxBounds3 &cullbox,

) const = 0

Visualize custom geometry for debugging.

Optional.

Parameters:

• geometry – [in] This geometry.

• out – [in] Render output.

• absPose – [in] Geometry absolute transform.

• cullbox – [in] Region to visualize.

virtual void computeMassProperties(

const PxGeometry &geometry,

PxMassProperties &massProperties,

) const = 0

Compute custom geometry mass properties.

For geometries usable with dynamic rigidbodies.

Parameters:

• geometry – [in] This geometry.

• massProperties – [out] Mass properties to compute.

virtual bool usePersistentContactManifold(

const PxGeometry &geometry,

PxReal &breakingThreshold,

) const = 0

Compatible with PhysX’s PCM feature.

Allows to optimize contact generation.

Parameters:

• geometry – [in] This geometry.

• breakingThreshold – [out] The threshold to trigger contacts re-generation.

inline virtual ~Callbacks()

struct Type

The type of a custom geometry.

Allows to identify a particular kind of it.

Public Functions

inline Type()

Default constructor.

inline Type(const Type &t)

Default constructor.

inline Type &operator=(const Type &t)

Assigment operator.

inline bool operator==(const Type &t) const

Equality operator.

inline bool operator!=(const Type &t) const

Inequality operator.

Public Static Functions

static inline Type INVALID()

Invalid type.