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<a href="PxRigidBodyExt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "<a class="code" href="PxRigidBody_8h.html">PxRigidBody.h</a>"</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "<a class="code" href="PxQueryReport_8h.html">PxQueryReport.h</a>"</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "<a class="code" href="PxQueryFiltering_8h.html">PxQueryFiltering.h</a>"</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "<a class="code" href="PxMassProperties_8h.html">extensions/PxMassProperties.h</a>"</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> {</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">class </span><a class="code" href="classPxScene.html">PxScene</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">struct </span><a class="code" href="structPxQueryCache.html">PxQueryCache</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">class </span><a class="code" href="classPxShape.html">PxShape</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classPxRigidBodyExt.html"> 58</a></span> <span class="keyword">class </span><a class="code" href="classPxRigidBodyExt.html">PxRigidBodyExt</a></div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> {</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> updateMassAndInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeDensities, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeDensityCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> updateMassAndInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> density, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeMasses, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeMassCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keyword">static</span> <a class="code" href="classPxMassProperties.html">PxMassProperties</a> computeMassPropertiesFromShapes(<span class="keyword">const</span> <a class="code" href="classPxShape.html">PxShape</a>* <span class="keyword">const</span>* shapes, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeCount);</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> addForceAtPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> addForceAtLocalPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> addLocalForceAtPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> addLocalForceAtLocalPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keyword">static</span> <a class="code" href="classPxVec3.html">PxVec3</a> getVelocityAtPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos);</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keyword">static</span> <a class="code" href="classPxVec3.html">PxVec3</a> getLocalVelocityAtLocalPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos);</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keyword">static</span> <a class="code" href="classPxVec3.html">PxVec3</a> getVelocityAtOffset(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& pos);</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span> </div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> linearSweepSingle(</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <a class="code" href="classPxScene.html">PxScene</a>& scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  PxHitFlags outputFlags,</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <a class="code" href="structPxSweepHit.html">PxSweepHit</a>& closestHit, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>& shapeIndex,</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>& filterData = <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>(),</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <a class="code" href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a>* filterCall = NULL,</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html">PxQueryCache</a>* cache = NULL,</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation=0.0f);</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> </div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keyword">static</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> linearSweepMultiple(</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <a class="code" href="classPxScene.html">PxScene</a>& scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,</div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  PxHitFlags outputFlags,</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <a class="code" href="structPxSweepHit.html">PxSweepHit</a>* touchHitBuffer, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>* touchHitShapeIndices, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> touchHitBufferSize,</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <a class="code" href="structPxSweepHit.html">PxSweepHit</a>& block, <a class="code" href="namespacephysx.html#a2d0d277fc9b3eb2bff0fcfa416ae6ae4">PxI32</a>& blockingShapeIndex, <span class="keywordtype">bool</span>& overflow,</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>& filterData = <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>(),</div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <a class="code" href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a>* filterCall = NULL,</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html">PxQueryCache</a>* cache = NULL, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation = 0.0f);</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span> </div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& impulsiveForce, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& impulsiveTorque, <a class="code" href="classPxVec3.html">PxVec3</a>& deltaLinearVelocity, <a class="code" href="classPxVec3.html">PxVec3</a>& deltaAngularVelocity);</div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span> </div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>& globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale, </div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html">PxVec3</a>& deltaLinearVelocity, <a class="code" href="classPxVec3.html">PxVec3</a>& deltaAngularVelocity);</div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span> </div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> computeLinearAngularImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>& globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>& impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale, </div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html">PxVec3</a>& linearImpulse, <a class="code" href="classPxVec3.html">PxVec3</a>& angularImpulse);</div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span> </div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span> </div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span> };</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span> </div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span> <span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span> } <span class="comment">// namespace physx</span></div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span> </div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span> <span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
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<div class="ttc" id="classPxScene_html"><div class="ttname"><a href="classPxScene.html">PxScene</a></div><div class="ttdoc">A scene is a collection of bodies and constraints which can interact. </div><div class="ttdef"><b>Definition:</b> PxScene.h:169</div></div>
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<div class="ttc" id="classPxQueryFilterCallback_html"><div class="ttname"><a href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a></div><div class="ttdoc">Scene query filtering callbacks. </div><div class="ttdef"><b>Definition:</b> PxQueryFiltering.h:169</div></div>
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<div class="ttc" id="classPxShape_html"><div class="ttname"><a href="classPxShape.html">PxShape</a></div><div class="ttdoc">Abstract class for collision shapes. </div><div class="ttdef"><b>Definition:</b> PxShape.h:142</div></div>
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<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
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<div class="ttc" id="PxMassProperties_8h_html"><div class="ttname"><a href="PxMassProperties_8h.html">PxMassProperties.h</a></div></div>
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<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a1f5925a4680ca8dff39369ff8d47ab7c"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a></div><div class="ttdeci">PxVec3 force</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:132</div></div>
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<div class="ttc" id="structPxQueryFilterData_html"><div class="ttname"><a href="structPxQueryFilterData.html">PxQueryFilterData</a></div><div class="ttdoc">Scene query filtering data. </div><div class="ttdef"><b>Definition:</b> PxQueryFiltering.h:132</div></div>
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<div class="ttc" id="PxRigidBody_8h_html"><div class="ttname"><a href="PxRigidBody_8h.html">PxRigidBody.h</a></div></div>
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<div class="ttc" id="PxQueryReport_8h_html"><div class="ttname"><a href="PxQueryReport_8h.html">PxQueryReport.h</a></div></div>
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<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxForceMode.h:52</div></div>
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<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
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<div class="ttc" id="classPxRigidBodyExt_html"><div class="ttname"><a href="classPxRigidBodyExt.html">PxRigidBodyExt</a></div><div class="ttdoc">utility functions for use with PxRigidBody and subclasses </div><div class="ttdef"><b>Definition:</b> PxRigidBodyExt.h:58</div></div>
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<div class="ttc" id="PxQueryFiltering_8h_html"><div class="ttname"><a href="PxQueryFiltering_8h.html">PxQueryFiltering.h</a></div></div>
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<div class="ttc" id="classPxMassProperties_html"><div class="ttname"><a href="classPxMassProperties.html">PxMassProperties</a></div><div class="ttdoc">Utility class to compute and manipulate mass and inertia tensor properties. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:63</div></div>
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<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a></div><div class="ttdoc">parameter has unit of mass * distance/ time^2, i.e. a force </div><div class="ttdef"><b>Definition:</b> PxForceMode.h:54</div></div>
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<div class="ttc" id="structPxQueryCache_html"><div class="ttname"><a href="structPxQueryCache.html">PxQueryCache</a></div><div class="ttdoc">single hit cache for scene queries. </div><div class="ttdef"><b>Definition:</b> PxScene.h:143</div></div>
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<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
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<div class="ttc" id="namespacephysx_html_a2d0d277fc9b3eb2bff0fcfa416ae6ae4"><div class="ttname"><a href="namespacephysx.html#a2d0d277fc9b3eb2bff0fcfa416ae6ae4">physx::PxI32</a></div><div class="ttdeci">int32_t PxI32</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:70</div></div>
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<div class="ttc" id="structPxSweepHit_html"><div class="ttname"><a href="structPxSweepHit.html">PxSweepHit</a></div><div class="ttdoc">Stores results of sweep queries. </div><div class="ttdef"><b>Definition:</b> PxQueryReport.h:200</div></div>
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<div class="ttc" id="classPxRigidBody_html"><div class="ttname"><a href="classPxRigidBody.html">PxRigidBody</a></div><div class="ttdoc">PxRigidBody is a base class shared between dynamic rigid body objects. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:195</div></div>
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<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
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<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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