Revision control
- //
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
- #ifndef PX_PHYSICS_NX_SHAPE
- #define PX_PHYSICS_NX_SHAPE
- /** \addtogroup physics
- @{
- */
+ #ifndef PX_SHAPE_H
+ #define PX_SHAPE_H
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
+ #include "foundation/PxSimpleTypes.h"
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHelpers.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxBoxGeometry;
class PxSphereGeometry;
class PxCapsuleGeometry;
class PxPlaneGeometry;
class PxConvexMeshGeometry;
class PxTriangleMeshGeometry;
+ class PxTetrahedronMeshGeometry;
class PxHeightFieldGeometry;
+ class PxParticleSystemGeometry;
class PxRigidActor;
struct PxFilterData;
- struct PxRaycastHit;
- struct PxSweepHit;
+ class PxBaseMaterial;
+ class PxMaterial;
+ class PxDeformableSurfaceMaterial;
+ class PxDeformableVolumeMaterial;
/**
\brief Flags which affect the behavior of PxShapes.
- @see PxShape PxShape.setFlag()
+ \see PxShape PxShape.setFlag()
*/
struct PxShapeFlag
{
enum Enum
{
/**
\brief The shape will partake in collision in the physical simulation.
\note It is illegal to raise the eSIMULATION_SHAPE and eTRIGGER_SHAPE flags.
In the event that one of these flags is already raised the sdk will reject any
attempt to raise the other. To raise the eSIMULATION_SHAPE first ensure that
eTRIGGER_SHAPE is already lowered.
\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
- @see PxSimulationEventCallback.onContact() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+ \see PxSimulationEventCallback.onContact() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
*/
eSIMULATION_SHAPE = (1<<0),
/**
\brief The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...).
*/
eSCENE_QUERY_SHAPE = (1<<1),
/**
\brief The shape is a trigger which can send reports whenever other shapes enter/leave its volume.
\note Triangle meshes and heightfields can not be triggers. Shape creation will fail in these cases.
\note Shapes marked as triggers do not collide with other objects. If an object should act both
as a trigger shape and a collision shape then create a rigid body with two shapes, one being a
trigger shape and the other a collision shape. It is illegal to raise the eTRIGGER_SHAPE and
eSIMULATION_SHAPE flags on a single PxShape instance. In the event that one of these flags is already
raised the sdk will reject any attempt to raise the other. To raise the eTRIGGER_SHAPE flag first
ensure that eSIMULATION_SHAPE flag is already lowered.
\note Trigger shapes will no longer send notification events for interactions with other trigger shapes.
\note Shapes marked as triggers are allowed to participate in scene queries, provided the eSCENE_QUERY_SHAPE flag is set.
\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
- @see PxSimulationEventCallback.onTrigger() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
+ \see PxSimulationEventCallback.onTrigger() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
*/
eTRIGGER_SHAPE = (1<<2),
/**
\brief Enable debug renderer for this shape
- @see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
+ \see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
*/
eVISUALIZATION = (1<<3)
};
};
/**
\brief collection of set bits defined in PxShapeFlag.
- @see PxShapeFlag
+ \see PxShapeFlag
*/
typedef PxFlags<PxShapeFlag::Enum,PxU8> PxShapeFlags;
PX_FLAGS_OPERATORS(PxShapeFlag::Enum,PxU8)
-
/**
\brief Abstract class for collision shapes.
Shapes are shared, reference counted objects.
An instance can be created by calling the createShape() method of the PxRigidActor class, or
the createShape() method of the PxPhysics class.
<h3>Visualizations</h3>
\li PxVisualizationParameter::eCOLLISION_AABBS
\li PxVisualizationParameter::eCOLLISION_SHAPES
\li PxVisualizationParameter::eCOLLISION_AXES
- @see PxPhysics.createShape() PxRigidActor.createShape() PxBoxGeometry PxSphereGeometry PxCapsuleGeometry PxPlaneGeometry PxConvexMeshGeometry
+ \see PxPhysics.createShape() PxRigidActor.createShape() PxBoxGeometry PxSphereGeometry PxCapsuleGeometry PxPlaneGeometry PxConvexMeshGeometry
PxTriangleMeshGeometry PxHeightFieldGeometry
*/
- class PxShape : public PxBase
+ class PxShape : public PxRefCounted
{
public:
-
- /**
- \brief Decrements the reference count of a shape and releases it if the new reference count is zero.
-
- Note that in releases prior to PhysX 3.3 this method did not have reference counting semantics and was used to destroy a shape
- created with PxActor::createShape(). In PhysX 3.3 and above, this usage is deprecated, instead, use PxRigidActor::detachShape() to detach
- a shape from an actor. If the shape to be detached was created with PxActor::createShape(), the actor holds the only counted reference,
- and so when the shape is detached it will also be destroyed.
-
- @see PxRigidActor::createShape() PxPhysics::createShape() PxRigidActor::attachShape() PxRigidActor::detachShape()
- */
- virtual void release() = 0;
-
- /**
- \brief Returns the reference count of the shape.
-
- At creation, the reference count of the shape is 1. Every actor referencing this shape increments the
- count by 1. When the reference count reaches 0, and only then, the shape gets destroyed automatically.
-
- \return the current reference count.
- */
- virtual PxU32 getReferenceCount() const = 0;
-
- /**
- \brief Acquires a counted reference to a shape.
-
- This method increases the reference count of the shape by 1. Decrement the reference count by calling release()
- */
- virtual void acquireReference() = 0;
-
- /**
- \brief Get the geometry type of the shape.
-
- \return Type of shape geometry.
-
- @see PxGeometryType
- */
- virtual PxGeometryType::Enum getGeometryType() const = 0;
-
/**
\brief Adjust the geometry of the shape.
\note The type of the passed in geometry must match the geometry type of the shape.
\note It is not allowed to change the geometry type of a shape.
\note This function does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.
\param[in] geometry New geometry of the shape.
- @see PxGeometry PxGeometryType getGeometryType()
+ \see PxGeometry PxGeometryType getGeometryType()
*/
- virtual void setGeometry(const PxGeometry& geometry) = 0;
-
-
- /**
- \brief Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.
-
- \return a PxGeometryHolder object containing the geometry;
-
- @see PxGeometry PxGeometryType getGeometryType() setGeometry()
- */
-
- virtual PxGeometryHolder getGeometry() const = 0;
-
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getBoxGeometry(PxBoxGeometry& geometry) const = 0;
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getSphereGeometry(PxSphereGeometry& geometry) const = 0;
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getCapsuleGeometry(PxCapsuleGeometry& geometry) const = 0;
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getPlaneGeometry(PxPlaneGeometry& geometry) const = 0;
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getConvexMeshGeometry(PxConvexMeshGeometry& geometry) const = 0;
-
- /**
- \brief Fetch the geometry of the shape.
-
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
-
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
-
- @see PxGeometry PxGeometryType getGeometryType()
- */
- virtual bool getTriangleMeshGeometry(PxTriangleMeshGeometry& geometry) const = 0;
-
+ virtual void setGeometry(const PxGeometry& geometry) = 0;
/**
- \brief Fetch the geometry of the shape.
+ \brief Retrieve a reference to the shape's geometry.
- \note If the type of geometry to extract does not match the geometry type of the shape
- then the method will return false and the passed in geometry descriptor is not modified.
+ \warning The returned reference has the same lifetime as the PxShape it comes from.
- \param[in] geometry The descriptor to save the shape's geometry data to.
- \return True on success else false
+ \return Reference to internal PxGeometry object.
- @see PxGeometry PxGeometryType getGeometryType()
+ \see PxGeometry PxGeometryType getGeometryType() setGeometry()
*/
- virtual bool getHeightFieldGeometry(PxHeightFieldGeometry& geometry) const = 0;
+ virtual const PxGeometry& getGeometry() const = 0;
/**
\brief Retrieves the actor which this shape is associated with.
\return The actor this shape is associated with, if it is an exclusive shape, else NULL
- @see PxRigidStatic, PxRigidDynamic, PxArticulationLink
+ \see PxRigidStatic, PxRigidDynamic, PxArticulationLink
*/
- virtual PxRigidActor* getActor() const = 0;
-
+ virtual PxRigidActor* getActor() const = 0;
/************************************************************************************************/
- /** @name Pose Manipulation
+ /** \name Pose Manipulation
*/
- //@{
+ //\{
/**
\brief Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached.
This transformation is identity by default.
The local pose is an attribute of the shape, and so will apply to all actors to which the shape is attached.
<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
<i>Note:</i> Does not automatically update the inertia properties of the owning actor (if applicable); use the
PhysX extensions method #PxRigidBodyExt::updateMassAndInertia() to do this.
<b>Default:</b> the identity transform
\param[in] pose The new transform from the actor frame to the shape frame. <b>Range:</b> rigid body transform
- @see getLocalPose()
+ \see getLocalPose()
*/
- virtual void setLocalPose(const PxTransform& pose) = 0;
+ virtual void setLocalPose(const PxTransform& pose) = 0;
/**
\brief Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by.
This transformation is identity by default.
\return Pose of shape relative to the actor's frame.
- @see setLocalPose()
+ \see setLocalPose()
*/
- virtual PxTransform getLocalPose() const = 0;
+ virtual PxTransform getLocalPose() const = 0;
- //@}
+ //\}
/************************************************************************************************/
- /** @name Collision Filtering
+ /** \name Collision Filtering
*/
- //@{
+ //\{
/**
\brief Sets the user definable collision filter data.
<b>Sleeping:</b> Does wake up the actor if the filter data change causes a formerly suppressed
collision pair to be enabled.
<b>Default:</b> (0,0,0,0)
- @see getSimulationFilterData()
+ \see getSimulationFilterData()
*/
- virtual void setSimulationFilterData(const PxFilterData& data) = 0;
+ virtual void setSimulationFilterData(const PxFilterData& data) = 0;
/**
\brief Retrieves the shape's collision filter data.
- @see setSimulationFilterData()
+ \see setSimulationFilterData()
*/
- virtual PxFilterData getSimulationFilterData() const = 0;
+ virtual PxFilterData getSimulationFilterData() const = 0;
/**
\brief Sets the user definable query filter data.
<b>Default:</b> (0,0,0,0)
- @see getQueryFilterData()
+ \see getQueryFilterData()
*/
- virtual void setQueryFilterData(const PxFilterData& data) = 0;
+ virtual void setQueryFilterData(const PxFilterData& data) = 0;
/**
\brief Retrieves the shape's Query filter data.
- @see setQueryFilterData()
+ \see setQueryFilterData()
*/
- virtual PxFilterData getQueryFilterData() const = 0;
+ virtual PxFilterData getQueryFilterData() const = 0;
- //@}
+ //\}
/************************************************************************************************/
/**
- \brief Assigns material(s) to the shape.
+ \brief Assigns material(s) to the shape. Will remove existing materials from the shape.
<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
\param[in] materials List of material pointers to assign to the shape. See #PxMaterial
\param[in] materialCount The number of materials provided.
- @see PxPhysics.createMaterial() getMaterials()
+ \see PxPhysics.createMaterial() getMaterials()
*/
- virtual void setMaterials(PxMaterial*const* materials, PxU16 materialCount) = 0;
+ virtual void setMaterials(PxMaterial*const* materials, PxU16 materialCount) = 0;
+
+ /**
+ \brief Assigns surface deformable material(s) to the shape. Will remove existing materials from the shape.
+
+ <b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
+
+ \param[in] materials List of material pointers to assign to the shape. See #PxDeformableSurfaceMaterial
+ \param[in] materialCount The number of materials provided.
+
+ \see PxPhysics.createDeformableSurfaceMaterial() getDeformableSurfaceMaterials()
+ */
+ virtual void setDeformableSurfaceMaterials(PxDeformableSurfaceMaterial*const* materials, PxU16 materialCount) = 0;
+
+ /**
+ \brief Assigns deformable volume material(s) to the shape. Will remove existing materials from the shape.
+
+ <b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
+
+ \param[in] materials List of material pointers to assign to the shape. See #PxDeformableVolumeMaterial
+ \param[in] materialCount The number of materials provided.
+
+ \see PxPhysics.createDeformableVolumeMaterial() getDeformableVolumeMaterials()
+ */
+ virtual void setDeformableVolumeMaterials(PxDeformableVolumeMaterial* const* materials, PxU16 materialCount) = 0;
/**
\brief Returns the number of materials assigned to the shape.
You can use #getMaterials() to retrieve the material pointers.
\return Number of materials associated with this shape.
- @see PxMaterial getMaterials()
+ \see PxMaterial getMaterials()
*/
- virtual PxU16 getNbMaterials() const = 0;
+ virtual PxU16 getNbMaterials() const = 0;
/**
\brief Retrieve all the material pointers associated with the shape.
You can retrieve the number of material pointers by calling #getNbMaterials()
- Note: Removing materials with #PxMaterial::release() will invalidate the pointer of the released material.
+ Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
\param[out] userBuffer The buffer to store the material pointers.
\param[in] bufferSize Size of provided user buffer.
\param[in] startIndex Index of first material pointer to be retrieved
\return Number of material pointers written to the buffer.
- @see PxMaterial getNbMaterials() PxMaterial::release()
+ \see PxMaterial getNbMaterials() PxMaterial::release()
*/
- virtual PxU32 getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
-
+ virtual PxU32 getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
+
+ /**
+ \brief Retrieve all the surface deformable material pointers associated with the shape.
+
+ You can retrieve the number of material pointers by calling #getNbMaterials()
+
+ Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
+
+ \param[out] userBuffer The buffer to store the material pointers.
+ \param[in] bufferSize Size of provided user buffer.
+ \param[in] startIndex Index of first material pointer to be retrieved
+ \return Number of material pointers written to the buffer.
+
+ \see PxDeformableSurfaceMaterial getNbMaterials() PxMaterial::release()
+ */
+ virtual PxU32 getDeformableSurfaceMaterials(PxDeformableSurfaceMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
+
+ /**
+ \brief Retrieve all the deformable volume material pointers associated with the shape.
+
+ You can retrieve the number of material pointers by calling #getNbMaterials()
+
+ Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
+
+ \param[out] userBuffer The buffer to store the material pointers.
+ \param[in] bufferSize Size of provided user buffer.
+ \param[in] startIndex Index of first material pointer to be retrieved
+ \return Number of material pointers written to the buffer.
+
+ \see PxDeformableVolumeMaterial getNbMaterials() PxMaterial::release()
+ */
+ virtual PxU32 getDeformableVolumeMaterials(PxDeformableVolumeMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
+
/**
\brief Retrieve material from given triangle index.
The input index is the internal triangle index as used inside the SDK. This is the index
returned to users by various SDK functions such as raycasts.
This function is only useful for triangle meshes or heightfields, which have per-triangle
- materials. For other shapes the function returns the single material associated with the
- shape, regardless of the index.
+ materials. For other shapes or SDF triangle meshes, the function returns the single material
+ associated with the shape, regardless of the index.
\param[in] faceIndex The internal triangle index whose material you want to retrieve.
\return Material from input triangle
\note If faceIndex value of 0xFFFFffff is passed as an input for mesh and heightfield shapes, this function will issue a warning and return NULL.
\note Scene queries set the value of PxQueryHit::faceIndex to 0xFFFFffff whenever it is undefined or does not apply.
- @see PxMaterial getNbMaterials() PxMaterial::release()
+ \see PxMaterial getNbMaterials() PxMaterial::release()
*/
- virtual PxMaterial* getMaterialFromInternalFaceIndex(PxU32 faceIndex) const = 0;
+ virtual PxBaseMaterial* getMaterialFromInternalFaceIndex(PxU32 faceIndex) const = 0;
/**
\brief Sets the contact offset.
Shapes whose distance is less than the sum of their contactOffset values will generate contacts. The contact offset must be positive and
greater than the rest offset. Having a contactOffset greater than than the restOffset allows the collision detection system to
predictively enforce the contact constraint even when the objects are slightly separated. This prevents jitter that would occur
if the constraint were enforced only when shapes were within the rest distance.
<b>Default:</b> 0.02f * PxTolerancesScale::length
<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
\param[in] contactOffset <b>Range:</b> [maximum(0,restOffset), PX_MAX_F32)
- @see getContactOffset PxTolerancesScale setRestOffset
+ \see getContactOffset PxTolerancesScale setRestOffset
*/
- virtual void setContactOffset(PxReal contactOffset) = 0;
+ virtual void setContactOffset(PxReal contactOffset) = 0;
/**
\brief Retrieves the contact offset.
\return The contact offset of the shape.
- @see setContactOffset()
+ \see setContactOffset()
*/
- virtual PxReal getContactOffset() const = 0;
+ virtual PxReal getContactOffset() const = 0;
/**
\brief Sets the rest offset.
Two shapes will come to rest at a distance equal to the sum of their restOffset values. If the restOffset is 0, they should converge to touching
exactly. Having a restOffset greater than zero is useful to have objects slide smoothly, so that they do not get hung up on irregularities of
each others' surfaces.
<b>Default:</b> 0.0f
<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
\param[in] restOffset <b>Range:</b> (-PX_MAX_F32, contactOffset)
- @see getRestOffset setContactOffset
+ \see getRestOffset setContactOffset
*/
- virtual void setRestOffset(PxReal restOffset) = 0;
+ virtual void setRestOffset(PxReal restOffset) = 0;
/**
\brief Retrieves the rest offset.
\return The rest offset of the shape.
- @see setRestOffset()
+ \see setRestOffset()
*/
- virtual PxReal getRestOffset() const = 0;
+ virtual PxReal getRestOffset() const = 0;
+ /**
+ \brief Sets the density used to interact with fluids.
+
+ To be physically accurate, the density of a rigid body should be computed as its mass divided by its volume. To
+ simplify tuning the interaction of fluid and rigid bodies, the density for fluid can differ from the real density. This
+ allows to create floating bodies, even if they are supposed to sink with their mass and volume.
+
+ <b>Default:</b> 800.0f
+
+ \param[in] densityForFluid <b>Range:</b> (0, PX_MAX_F32)
+
+ \see getDensityForFluid
+ */
+ virtual void setDensityForFluid(PxReal densityForFluid) = 0;
+
+ /**
+ \brief Retrieves the density used to interact with fluids.
+
+ \return The density of the body when interacting with fluid.
+
+ \see setDensityForFluid()
+ */
+ virtual PxReal getDensityForFluid() const = 0;
/**
\brief Sets torsional patch radius.
- This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction
- will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth
- so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate
- rotational friction introduced by the compression of contacting surfaces.
+ This defines the radius of the contact patch used to apply torsional friction. If the radius is 0 (and minTorsionalPatchRadius
+ is 0 too, see #setMinTorsionalPatchRadius), no torsional friction will be applied. If the radius is > 0, some torsional friction
+ will be applied. This is proportional to the penetration depth so, if the shapes are separated or penetration is zero, no
+ torsional friction will be applied. It is used to approximate rotational friction introduced by the compression of contacting surfaces.
+
+ \note Will only be active, if the friction patch has a single anchor point only. This is for example the case, if a contact patch
+ has a single contact point.
+
+ \note Only supported in combination with solver type PxSolverType::eTGS.
<b>Default:</b> 0.0
- \param[in] radius <b>Range:</b> (0, PX_MAX_F32)
+ \param[in] radius <b>Range:</b> [0, PX_MAX_F32)
*/
- virtual void setTorsionalPatchRadius(PxReal radius) = 0;
+ virtual void setTorsionalPatchRadius(PxReal radius) = 0;
/**
\brief Gets torsional patch radius.
- This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction
- will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth
- so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate
- rotational friction introduced by the compression of contacting surfaces.
+ See #setTorsionalPatchRadius for more info.
\return The torsional patch radius of the shape.
*/
- virtual PxReal getTorsionalPatchRadius() const = 0;
+ virtual PxReal getTorsionalPatchRadius() const = 0;
/**
\brief Sets minimum torsional patch radius.
This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction
that will be applied will be entirely dependent on the value of torsionalPatchRadius.
If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.
+ \note Will only be active in certain cases, see #setTorsionalPatchRadius for details.
+
<b>Default:</b> 0.0
- \param[in] radius <b>Range:</b> (0, PX_MAX_F32)
+ \param[in] radius <b>Range:</b> [0, PX_MAX_F32)
*/
- virtual void setMinTorsionalPatchRadius(PxReal radius) = 0;
+ virtual void setMinTorsionalPatchRadius(PxReal radius) = 0;
/**
\brief Gets minimum torsional patch radius.
- This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction
- that will be applied will be entirely dependent on the value of torsionalPatchRadius.
-
- If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.
+ See #setMinTorsionalPatchRadius for more info.
\return The minimum torsional patch radius of the shape.
*/
- virtual PxReal getMinTorsionalPatchRadius() const = 0;
+ virtual PxReal getMinTorsionalPatchRadius() const = 0;
+ /**
+ \brief Returns the GPU shape index.
+
+ \note This function only returns valid results if GPU dynamics is enabled.
+
+ \return The GPU index, or 0xFFFFFFFF if the shape is not attached to a PxActor that is inserted into a PxScene.
+
+ \see PxDirectGPUAPI::evaluateSDFDistances().
+ */
+ virtual PxShapeGPUIndex getGPUIndex() const = 0;
/************************************************************************************************/
/**
\brief Sets shape flags
<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
\param[in] flag The shape flag to enable/disable. See #PxShapeFlag.
\param[in] value True to set the flag. False to clear the flag specified in flag.
<b>Default:</b> PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eSCENE_QUERY_SHAPE
- @see PxShapeFlag getFlags()
+ \see PxShapeFlag getFlags()
*/
- virtual void setFlag(PxShapeFlag::Enum flag, bool value) = 0;
+ virtual void setFlag(PxShapeFlag::Enum flag, bool value) = 0;
/**
\brief Sets shape flags
- @see PxShapeFlag getFlags()
+ \see PxShapeFlag getFlags()
*/
- virtual void setFlags(PxShapeFlags inFlags) = 0;
+ virtual void setFlags(PxShapeFlags inFlags) = 0;
/**
\brief Retrieves shape flags.
\return The values of the shape flags.
- @see PxShapeFlag setFlag()
+ \see PxShapeFlag setFlag()
*/
- virtual PxShapeFlags getFlags() const = 0;
+ virtual PxShapeFlags getFlags() const = 0;
/**
\brief Returns true if the shape is exclusive to an actor.
- @see PxPhysics::createShape()
+ \see PxPhysics::createShape()
*/
- virtual bool isExclusive() const = 0;
+ virtual bool isExclusive() const = 0;
/**
\brief 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.
<b>Default:</b> NULL
\param[in] name The name string to set the objects name to.
- @see getName()
+ \see getName()
*/
- virtual void setName(const char* name) = 0;
-
+ virtual void setName(const char* name) = 0;
/**
\brief retrieves the name string set with setName().
\return The name associated with the shape.
- @see setName()
+ \see setName()
*/
- virtual const char* getName() const = 0;
+ virtual const char* getName() const = 0;
- virtual const char* getConcreteTypeName() const { return "PxShape"; }
+ virtual const char* getConcreteTypeName() const PX_OVERRIDE PX_FINAL { return "PxShape"; }
/************************************************************************************************/
- void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
+ void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
protected:
- PX_INLINE PxShape(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
- PX_INLINE PxShape(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
- virtual ~PxShape() {}
- virtual bool isKindOf(const char* name) const { return !::strcmp("PxShape", name) || PxBase::isKindOf(name); }
-
+ PX_INLINE PxShape(PxBaseFlags baseFlags) : PxRefCounted(baseFlags) {}
+ PX_INLINE PxShape(PxType concreteType, PxBaseFlags baseFlags) : PxRefCounted(concreteType, baseFlags), userData(NULL) {}
+ virtual ~PxShape() {}
+ virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxShape", PxRefCounted); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
- /** @} */
#endif