A scene is a collection of bodies, constraints, and effectors which can interact. More...

#include "physxScene.h"

Inheritance diagram for PhysxScene:

Public Member Functions
NxControllerManager *	cm () const
PhysxActor *	create_actor (PhysxActorDesc &desc)
PhysxCloth *	create_cloth (PhysxClothDesc &desc)
	Creates a cloth in this scene.
PhysxController *	create_controller (PhysxControllerDesc &controllerDesc)
	Creates a new character controller.
PhysxForceField *	create_force_field (PhysxForceFieldDesc &desc)
	Creates a force field in this scene.
PhysxForceFieldShapeGroup *	create_force_field_shape_group (PhysxForceFieldShapeGroupDesc &desc)
	Creates a new force field shape group in this scene.
PhysxJoint *	create_joint (PhysxJointDesc &desc)
	Creates a joint in this scene.
PhysxMaterial *	create_material (PhysxMaterialDesc &desc)
	Creates a new PhysxMaterial.
PhysxMaterial *	create_material ()
	Creates a new PhysxMaterial using the default settings of PhysxMaterialDesc.
PhysxSoftBody *	create_soft_body (PhysxSoftBodyDesc &desc)
	Creates a soft body in this scene.
PhysxVehicle *	create_vehicle (PhysxVehicleDesc &desc)
	Creates a vehicle in this scene.
void	enable_contact_reporting (bool enabled)
void	enable_controller_reporting (bool enabled)
void	enable_trigger_reporting (bool enabled)
void	fetch_results ()
	Waits until the simulation has finished, and then updates the scene graph with with simulation results.
virtual TypeHandle	force_init_type ()
PhysxActor *	get_actor (unsigned int idx) const
bool	get_actor_group_pair_flag (unsigned int g1, unsigned int g2, PhysxContactPairFlag flag)
	Retrieves a single flag set with PhysxScene::set_actor_group_pair_flag()
bool	get_actor_pair_flag (PhysxActor &actorA, PhysxActor &actorB, PhysxContactPairFlag flag)
	Retrieves a single flag for the given pair of actors.
PhysxCloth *	get_cloth (unsigned int idx) const
	Returns the n-th cloth from the array of all the cloths in the scene.
PhysxController *	get_controller (unsigned int idx) const
	Retrieves the n-th controller within the scene.
PhysxDebugGeomNode *	get_debug_geom_node ()
	Retrieves the debug geom node for this scene.
PhysxConstraintDominance	get_dominance_group_pair (unsigned int g1, unsigned int g2)
	Samples the dominance matrix.
bool	get_filter_bool () const
	Retrieves filtering's boolean value.
PhysxGroupsMask	get_filter_constant0 () const
	Gets filtering constant K0.
PhysxGroupsMask	get_filter_constant1 () const
	Gets filtering constant K1.
PhysxFilterOp	get_filter_op0 () const
	Retrieves the op0 filtering operation.
PhysxFilterOp	get_filter_op1 () const
	Retrieves the op1 filtering operation.
PhysxFilterOp	get_filter_op2 () const
	Retrieves the op2 filtering operation.
bool	get_flag (PhysxSceneFlag flag) const
	Return the specified scene flag flag.
PhysxForceField *	get_force_field (unsigned int idx) const
	Returns the n-th force field from the array of all the force fields in the scene.
PhysxForceFieldShapeGroup *	get_force_field_shape_group (unsigned int idx) const
	Returns the n-th force field shape group in this scene.
LVector3f	get_gravity () const
	Retrieves the current gravity setting.
bool	get_group_collision_flag (unsigned int g1, unsigned int g2)
	Determines if collision detection is performed between a pair of groups.
unsigned int	get_hightest_material_index () const
	Returns current highest valid material index.
PhysxJoint *	get_joint (unsigned int idx) const
	Retrieve the n-th joint from the array of all the joints in the scene.
PhysxMaterial *	get_material (unsigned int idx) const
	Retrieves the n-th material from the array of materials.
PhysxMaterial *	get_material_from_index (unsigned int idx) const
	Retrieves the material with the given material index.
unsigned int	get_num_actors () const
unsigned int	get_num_cloths () const
	Gets the number of cloths in the scene.
unsigned int	get_num_controllers () const
	Return the number of controllers in the scene.
unsigned int	get_num_force_field_shape_groups () const
	Gets the number of force field shape groups in the scene.
unsigned int	get_num_force_fields () const
	Gets the number of force fields in the scene.
unsigned int	get_num_joints () const
	Returns the number of joints in the scene (excluding "dead" joints).
unsigned int	get_num_materials () const
	Return the number of materials in the scene.
unsigned int	get_num_soft_bodies () const
	Gets the number of soft bodies in the scene.
unsigned int	get_num_vehicles () const
	Returns the number of vehicles in the scene.
bool	get_shape_pair_flag (PhysxShape &shapeA, PhysxShape &shapeB)
	Returns /true/ if contact generation between a pair of shapes is enabled, and /false/ if contact generation is disables.
PhysxSoftBody *	get_soft_body (unsigned int idx) const
	Returns the n-th soft body from the array of all the soft bodies in the scene.
PhysxSceneStats2	get_stats2 () const
virtual TypeHandle	get_type () const
PhysxVehicle *	get_vehicle (unsigned int idx) const
	Returns the n-th vehicle from the array of all the vehicles in the scene.
PhysxMaterial *	get_wheel_shape_material ()
	Gets the shared material for all wheel shapes.
bool	is_contact_reporting_enabled () const
bool	is_controller_reporting_enabled () const
bool	is_hardware_scene () const
	Returns TRUE if the the scene is simulated in hardware.
bool	is_trigger_reporting_enabled () const
void	link (NxScene *ptr)
void	ls (ostream &out, int indent_level=0) const
void	ls () const
	MAKE_SEQ (get_materials, get_num_materials, get_material)
	MAKE_SEQ (get_force_field_shape_groups, get_num_force_field_shape_groups, get_force_field_shape_group)
	MAKE_SEQ (get_joints, get_num_joints, get_joint)
	MAKE_SEQ (get_soft_bodies, get_num_soft_bodies, get_soft_body)
	MAKE_SEQ (get_controllers, get_num_controllers, get_controller)
	MAKE_SEQ (get_force_fields, get_num_force_fields, get_force_field)
	MAKE_SEQ (get_cloths, get_num_cloths, get_cloth)
	MAKE_SEQ (get_vehicles, get_num_vehicles, get_vehicle)
	MAKE_SEQ (get_actors, get_num_actors, get_actor)
PhysxOverlapReport	overlap_capsule_shapes (const LPoint3f &p0, const LPoint3f &p1, float radius, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), bool accurateCollision=true) const
	Returns the set of shapes overlapped by the world-space capsule.
PhysxOverlapReport	overlap_sphere_shapes (const LPoint3f &center, float radius, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), bool accurateCollision=true) const
	Returns the set of shapes overlapped by the world-space sphere.
NxScene *	ptr () const
PhysxRaycastReport	raycast_all_bounds (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL, bool smoothNormal=true) const
	Returns a PhysxRaycastReport object which can be used to iterate over all shapes that have been enclosed by axis aligned bounding boxes hit by the ray.
PhysxRaycastReport	raycast_all_shapes (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL, bool smoothNormal=true) const
	Returns a PhysxRaycastReport object which can be used to iterate over all shapes that have been hit by the ray.
bool	raycast_any_bounds (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL) const
	Returns true if any axis aligned bounding box enclosing a shape is intersected by the ray.
bool	raycast_any_shape (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL) const
	Returns true if any shape is intersected by the ray.
PhysxRaycastHit	raycast_closest_bounds (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL, bool smoothNormal=true) const
	Returns the first axis aligned bounding box enclosing a shape that is hit along the ray.
PhysxRaycastHit	raycast_closest_shape (const PhysxRay &ray, PhysxShapesType shapesType=ST_all, PhysxMask mask=PhysxMask::all_on(), PhysxGroupsMask *groups=NULL, bool smoothNormal=true) const
	Returns the first shape that is hit along the ray.
void	release ()
void	set_actor_group_pair_flag (unsigned int g1, unsigned int g2, PhysxContactPairFlag flag, bool value)
	With this method one can set contact reporting flags between actors belonging to a pair of groups.
void	set_actor_pair_flag (PhysxActor &actorA, PhysxActor &actorB, PhysxContactPairFlag flag, bool value)
	Sets the pair flags for the given pair of actors.
void	set_dominance_group_pair (unsigned int g1, unsigned int g2, PhysxConstraintDominance dominance)
	Specifies the dominance behavior of constraints between two actors with two certain dominance groups.
void	set_filter_bool (bool flag)
	Setups filtering's boolean value.
void	set_filter_constant0 (const PhysxGroupsMask &mask)
	Setups filtering's K0 value.
void	set_filter_constant1 (const PhysxGroupsMask &mask)
	Setups filtering's K1 value.
void	set_filter_ops (PhysxFilterOp op0, PhysxFilterOp op1, PhysxFilterOp op2)
	Setups filtering operations.
void	set_gravity (const LVector3f &gravity)
	Sets a constant gravity for the entire scene.
void	set_group_collision_flag (unsigned int g1, unsigned int g2, bool enable)
	Specifies if collision should be performed by a pair of shape groups.
void	set_shape_pair_flag (PhysxShape &shapeA, PhysxShape &shapeB, bool value)
	Disables or enables contact generation for a pair of shapes.
void	set_timing_fixed (float maxTimestep=1.0f/60.0f, unsigned int maxIter=8)
	Sets simulation timing parameters used in simulate.
void	set_timing_variable ()
	Sets simulation timing parameters used in simulate.
void	simulate (float dt)
	Advances the simulation by an elapsedTime time.
void	unlink ()
Static Public Member Functions
static TypeHandle	get_class_type ()
static void	init_type ()
	This function is declared non-inline to work around a compiler bug in g++ 2.96.
Public Attributes
PhysxObjectCollection< PhysxActor >	_actors
PhysxObjectCollection< PhysxCloth >	_cloths
PhysxObjectCollection < PhysxController >	_controllers
PhysxObjectCollection < PhysxForceFieldShapeGroup >	_ffgroups
PhysxObjectCollection < PhysxForceField >	_forcefields
PhysxObjectCollection< PhysxJoint >	_joints
PhysxObjectCollection < PhysxMaterial >	_materials
PhysxObjectCollection < PhysxSoftBody >	_softbodies
PhysxObjectCollection < PhysxVehicle >	_vehicles

Detailed Description

A scene is a collection of bodies, constraints, and effectors which can interact.

The scene simulates the behavior of these objects over time. Several scenes may exist at the same time, but each body, constraint, or effector object is specific to a scene -- they may not be shared.

For example, attempting to create a joint in one scene and then using it to attach bodies from a different scene results in undefined behavior.

Definition at line 72 of file physxScene.h.

Member Function Documentation

PhysxCloth * PhysxScene::create_cloth ( PhysxClothDesc & desc )

Creates a cloth in this scene.

Definition at line 921 of file physxScene.cxx.

PhysxController * PhysxScene::create_controller ( PhysxControllerDesc & controllerDesc )

Creates a new character controller.

Definition at line 694 of file physxScene.cxx.

PhysxForceField * PhysxScene::create_force_field ( PhysxForceFieldDesc & desc )

Creates a force field in this scene.

Definition at line 808 of file physxScene.cxx.

References PhysxForceFieldDesc::is_valid().

PhysxForceFieldShapeGroup * PhysxScene::create_force_field_shape_group ( PhysxForceFieldShapeGroupDesc & desc )

Creates a new force field shape group in this scene.

Definition at line 866 of file physxScene.cxx.

PhysxJoint * PhysxScene::create_joint ( PhysxJointDesc & desc )

Creates a joint in this scene.

Definition at line 751 of file physxScene.cxx.

PhysxMaterial * PhysxScene::create_material ( PhysxMaterialDesc & desc )

Creates a new PhysxMaterial.

The material library consists of an array of material objects. Each material has a well defined index that can be used to refer to it. If an object references an undefined material, the default material with index 0 is used instead.

Definition at line 569 of file physxScene.cxx.

References PhysxMaterialDesc::is_valid().

PhysxMaterial * PhysxScene::create_material ( )

Creates a new PhysxMaterial using the default settings of PhysxMaterialDesc.

Definition at line 592 of file physxScene.cxx.

Referenced by get_wheel_shape_material().

PhysxSoftBody * PhysxScene::create_soft_body ( PhysxSoftBodyDesc & desc )

Creates a soft body in this scene.

Definition at line 972 of file physxScene.cxx.

PhysxVehicle * PhysxScene::create_vehicle ( PhysxVehicleDesc & desc )

Creates a vehicle in this scene.

Definition at line 1023 of file physxScene.cxx.

References PhysxVehicleDesc::is_valid().

void PhysxScene::fetch_results ( )

Waits until the simulation has finished, and then updates the scene graph with with simulation results.

It is not allowed to modify the physics scene in between the simulate(dt) and the fetch_results calls! But it is allowed to read from the scene and do additional computations, e. g. AI, in between these calls.

Definition at line 242 of file physxScene.cxx.

References PhysxManager::nxMat34_to_mat4(), and PhysxActor::update_transform().

bool PhysxScene::get_actor_group_pair_flag	(	unsigned int	g1,
		unsigned int	g2,
		PhysxContactPairFlag	flag
	)

Retrieves a single flag set with PhysxScene::set_actor_group_pair_flag()

Definition at line 1444 of file physxScene.cxx.

bool PhysxScene::get_actor_pair_flag	(	PhysxActor &	actorA,
		PhysxActor &	actorB,
		PhysxContactPairFlag	flag
	)

Retrieves a single flag for the given pair of actors.

The two actor references must not reference the same actor.

Definition at line 1333 of file physxScene.cxx.

PhysxCloth * PhysxScene::get_cloth ( unsigned int idx ) const

Returns the n-th cloth from the array of all the cloths in the scene.

Definition at line 943 of file physxScene.cxx.

PhysxController * PhysxScene::get_controller ( unsigned int idx ) const

Retrieves the n-th controller within the scene.

Definition at line 720 of file physxScene.cxx.

PhysxDebugGeomNode * PhysxScene::get_debug_geom_node ( )

Retrieves the debug geom node for this scene.

The debug geom node is used to visualize information about the physical scene which can be useful for debugging an application.

The debug geom node geometry is generated in global coordinates. In order to see correct information it is important not to dislocate the debug node. Reparent it to render and leave position at (0,0,0).

Definition at line 435 of file physxScene.cxx.

PhysxConstraintDominance PhysxScene::get_dominance_group_pair	(	unsigned int	g1,
		unsigned int	g2
	)

Samples the dominance matrix.

Definition at line 1744 of file physxScene.cxx.

bool PhysxScene::get_filter_bool ( ) const

Retrieves filtering's boolean value.

Definition at line 1506 of file physxScene.cxx.

PhysxGroupsMask PhysxScene::get_filter_constant0 ( ) const

Gets filtering constant K0.

Definition at line 1518 of file physxScene.cxx.

PhysxGroupsMask PhysxScene::get_filter_constant1 ( ) const

Gets filtering constant K1.

Definition at line 1536 of file physxScene.cxx.

PhysxEnums::PhysxFilterOp PhysxScene::get_filter_op0 ( ) const

Retrieves the op0 filtering operation.

Definition at line 1554 of file physxScene.cxx.

PhysxEnums::PhysxFilterOp PhysxScene::get_filter_op1 ( ) const

Retrieves the op1 filtering operation.

Definition at line 1573 of file physxScene.cxx.

PhysxEnums::PhysxFilterOp PhysxScene::get_filter_op2 ( ) const

Retrieves the op2 filtering operation.

Definition at line 1592 of file physxScene.cxx.

bool PhysxScene::get_flag ( PhysxSceneFlag flag ) const

Return the specified scene flag flag.

Definition at line 1654 of file physxScene.cxx.

PhysxForceField * PhysxScene::get_force_field ( unsigned int idx ) const

Returns the n-th force field from the array of all the force fields in the scene.

Definition at line 835 of file physxScene.cxx.

PhysxForceFieldShapeGroup * PhysxScene::get_force_field_shape_group ( unsigned int idx ) const

Returns the n-th force field shape group in this scene.

Definition at line 888 of file physxScene.cxx.

LVector3f PhysxScene::get_gravity ( ) const

Retrieves the current gravity setting.

Definition at line 359 of file physxScene.cxx.

References PhysxManager::nxVec3_to_vec3(), and LVector3f::zero().

bool PhysxScene::get_group_collision_flag	(	unsigned int	g1,
		unsigned int	g2
	)

Determines if collision detection is performed between a pair of groups.

Collision groups are integers between 0 and 31.

Definition at line 1639 of file physxScene.cxx.

unsigned int PhysxScene::get_hightest_material_index ( ) const

Returns current highest valid material index.

Note that not all indices below this are valid if some of them belong to meshes that have beed freed.

Definition at line 619 of file physxScene.cxx.

PhysxJoint * PhysxScene::get_joint ( unsigned int idx ) const

Retrieve the n-th joint from the array of all the joints in the scene.

Definition at line 774 of file physxScene.cxx.

PhysxMaterial * PhysxScene::get_material ( unsigned int idx ) const

Retrieves the n-th material from the array of materials.

See also get_material_from_index, which retrieves a material by it's material index.

Definition at line 656 of file physxScene.cxx.

PhysxMaterial * PhysxScene::get_material_from_index ( unsigned int idx ) const

Retrieves the material with the given material index.

There is always at least one material in the Scene, the default material (index 0). If the specified material index is out of range (larger than get_hightest_material_index) or belongs to a material that has been released, then the default material is returned, but no error is reported.

Definition at line 639 of file physxScene.cxx.

unsigned int PhysxScene::get_num_cloths ( ) const

Gets the number of cloths in the scene.

Definition at line 909 of file physxScene.cxx.

unsigned int PhysxScene::get_num_controllers ( ) const

Return the number of controllers in the scene.

Definition at line 681 of file physxScene.cxx.

unsigned int PhysxScene::get_num_force_field_shape_groups ( ) const

Gets the number of force field shape groups in the scene.

Definition at line 853 of file physxScene.cxx.

unsigned int PhysxScene::get_num_force_fields ( ) const

Gets the number of force fields in the scene.

Definition at line 796 of file physxScene.cxx.

unsigned int PhysxScene::get_num_joints ( ) const

Returns the number of joints in the scene (excluding "dead" joints).

Note that this includes compartments.

Definition at line 739 of file physxScene.cxx.

unsigned int PhysxScene::get_num_materials ( ) const

Return the number of materials in the scene.

Note that the returned value is not related to material indices. Those may not be allocated continuously, and its values may be higher than get_num_materials(). This will also include the default material which exists without having to be created.

Definition at line 551 of file physxScene.cxx.

unsigned int PhysxScene::get_num_soft_bodies ( ) const

Gets the number of soft bodies in the scene.

Definition at line 960 of file physxScene.cxx.

unsigned int PhysxScene::get_num_vehicles ( ) const

Returns the number of vehicles in the scene.

Definition at line 1011 of file physxScene.cxx.

bool PhysxScene::get_shape_pair_flag	(	PhysxShape &	shapeA,
		PhysxShape &	shapeB
	)

Returns /true/ if contact generation between a pair of shapes is enabled, and /false/ if contact generation is disables.

The two shape references must not reference the same shape.

Definition at line 1384 of file physxScene.cxx.

PhysxSoftBody * PhysxScene::get_soft_body ( unsigned int idx ) const

Returns the n-th soft body from the array of all the soft bodies in the scene.

Definition at line 994 of file physxScene.cxx.

PhysxVehicle * PhysxScene::get_vehicle ( unsigned int idx ) const

Returns the n-th vehicle from the array of all the vehicles in the scene.

Definition at line 1043 of file physxScene.cxx.

PhysxMaterial * PhysxScene::get_wheel_shape_material ( )

Gets the shared material for all wheel shapes.

If this material is not already created then calling this method will create the material.

Normally users don't need to call this method. It is used internally by PhysWheel::create_wheel.

Definition at line 1768 of file physxScene.cxx.

References create_material(), and PhysxMaterialDesc::set_flag().

static void PhysxScene::init_type ( ) [inline, static]

This function is declared non-inline to work around a compiler bug in g++ 2.96.

Making it inline seems to cause problems in the optimizer.

Reimplemented from PhysxObject.

Definition at line 267 of file physxScene.h.

References PhysxObject::init_type().

bool PhysxScene::is_hardware_scene ( ) const

Returns TRUE if the the scene is simulated in hardware.

FALSE if the scene is simulated in software.

Definition at line 1668 of file physxScene.cxx.

PhysxOverlapReport PhysxScene::overlap_capsule_shapes	(	const LPoint3f &	p0,
		const LPoint3f &	p1,
		float	radius,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		bool	accurateCollision = `true`
	)		const

Returns the set of shapes overlapped by the world-space capsule.

You can test against static and/or dynamic objects by adjusting 'shapeType'.

Definition at line 1270 of file physxScene.cxx.

References PhysxManager::point3_to_nxVec3().

PhysxOverlapReport PhysxScene::overlap_sphere_shapes	(	const LPoint3f &	center,
		float	radius,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		bool	accurateCollision = `true`
	)		const

Returns the set of shapes overlapped by the world-space sphere.

You can test against static and/or dynamic objects by adjusting 'shapeType'.

Definition at line 1245 of file physxScene.cxx.

References PhysxManager::point3_to_nxVec3().

PhysxRaycastReport PhysxScene::raycast_all_bounds	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`,
		bool	smoothNormal = `true`
	)		const

Returns a PhysxRaycastReport object which can be used to iterate over all shapes that have been enclosed by axis aligned bounding boxes hit by the ray.

Definition at line 1211 of file physxScene.cxx.

PhysxRaycastReport PhysxScene::raycast_all_shapes	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`,
		bool	smoothNormal = `true`
	)		const

Returns a PhysxRaycastReport object which can be used to iterate over all shapes that have been hit by the ray.

Definition at line 1125 of file physxScene.cxx.

bool PhysxScene::raycast_any_bounds	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`
	)		const

Returns true if any axis aligned bounding box enclosing a shape is intersected by the ray.

Definition at line 1157 of file physxScene.cxx.

bool PhysxScene::raycast_any_shape	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`
	)		const

Returns true if any shape is intersected by the ray.

Definition at line 1070 of file physxScene.cxx.

PhysxRaycastHit PhysxScene::raycast_closest_bounds	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`,
		bool	smoothNormal = `true`
	)		const

Returns the first axis aligned bounding box enclosing a shape that is hit along the ray.

If not shape is hit then an empty raycast hit is returned (is_empty() == true).

Definition at line 1179 of file physxScene.cxx.

PhysxRaycastHit PhysxScene::raycast_closest_shape	(	const PhysxRay &	ray,
		PhysxShapesType	shapesType = `ST_all`,
		PhysxMask	mask = `PhysxMask::all_on()`,
		PhysxGroupsMask *	groups = `NULL`,
		bool	smoothNormal = `true`
	)		const

Returns the first shape that is hit along the ray.

If not shape is hit then an empty raycast hit is returned (is_empty() == true).

Definition at line 1091 of file physxScene.cxx.

void PhysxScene::set_actor_group_pair_flag	(	unsigned int	g1,
		unsigned int	g2,
		PhysxContactPairFlag	flag,
		bool	value
	)

With this method one can set contact reporting flags between actors belonging to a pair of groups.

It is possible to assign each actor to a group using PhysxActor::set_group(). This is a different set of groups from the shape groups despite the similar name. Here up to 0xffff different groups are permitted, With this method one can set contact reporting flags between actors belonging to a pair of groups.

The following flags are permitted:

CPF_start_touch
CPF_end_touch
CPF_touch
CPF_start_touch_treshold
CPF_end_touch_treshold
CPF_touch_treshold

Note that finer grain control of pairwise flags is possible using the function PhysxScene::set_actor_pair_flags().

Definition at line 1422 of file physxScene.cxx.

void PhysxScene::set_actor_pair_flag	(	PhysxActor &	actorA,
		PhysxActor &	actorB,
		PhysxContactPairFlag	flag,
		bool	value
	)

Sets the pair flags for the given pair of actors.

Calling this on an actor that has no shape(s) has no effect. The two actor references must not reference the same actor.

It is important to note that the engine stores pair flags per shape, even for actor pair flags. This means that shapes should be created before actor pair flags are set, otherwise the pair flags will be ignored.

Definition at line 1304 of file physxScene.cxx.

void PhysxScene::set_dominance_group_pair	(	unsigned int	g1,
		unsigned int	g2,
		PhysxConstraintDominance	dominance
	)

Specifies the dominance behavior of constraints between two actors with two certain dominance groups.

It is possible to assign each actor to a dominance groups using PhysxActor::set_dominance_group().

With dominance groups one can have all constraints (contacts and joints) created between actors act in one direction only. This is useful if you want to make sure that the movement of the rider of a vehicle or the pony tail of a character doesn't influence the object it is attached to, while keeping the motion of both inherently physical.

Whenever a constraint (i.e. joint or contact) between two actors (a0, a1) needs to be solved, the groups (g0, g1) of both actors are retrieved. Then the constraint dominance setting for this group pair is retrieved.

In the constraint, PhysxConstraintDominance::get_0() becomes the dominance setting for a0, and PhysxConstraintDominance::get_1() becomes the dominance setting for a1. A dominance setting of 1.0f, the default, will permit the actor to be pushed or pulled by the other actor. A dominance setting of 0.0f will however prevent the actor to be pushed or pulled by the other actor. Thus, a PhysxConstraintDominance of (1.0f, 0.0f) makes the interaction one-way.

The dominance matrix is initialised by default such that:

if g1 == g2, then (1.0f, 1.0f) is returned
if g1 < g2, then (0.0f, 1.0f) is returned
if g1 > g2, then (1.0f, 0.0f) is returned

In other words, actors in higher groups can be pushed around by actors in lower groups by default.

These settings should cover most applications, and in fact not overriding these settings may likely result in higher performance.

Dominance settings are currently specified as floats 0.0f or 1.0f because in the future PhysX may permit arbitrary fractional settings to express 'partly-one-way' interactions.

Definition at line 1728 of file physxScene.cxx.

void PhysxScene::set_filter_bool ( bool flag )

Setups filtering's boolean value.

Definition at line 1470 of file physxScene.cxx.

void PhysxScene::set_filter_constant0 ( const PhysxGroupsMask & mask )

Setups filtering's K0 value.

Definition at line 1482 of file physxScene.cxx.

void PhysxScene::set_filter_constant1 ( const PhysxGroupsMask & mask )

Setups filtering's K1 value.

Definition at line 1494 of file physxScene.cxx.

void PhysxScene::set_filter_ops	(	PhysxFilterOp	op0,
		PhysxFilterOp	op1,
		PhysxFilterOp	op2
	)

Setups filtering operations.

Definition at line 1458 of file physxScene.cxx.

void PhysxScene::set_gravity ( const LVector3f & gravity )

Sets a constant gravity for the entire scene.

Definition at line 345 of file physxScene.cxx.

References LVecBase3f::is_nan(), and PhysxManager::vec3_to_nxVec3().

void PhysxScene::set_group_collision_flag	(	unsigned int	g1,
		unsigned int	g2,
		bool	enable
	)

Specifies if collision should be performed by a pair of shape groups.

It is possible to assign each shape to a collision groups using PhysxShape::set_group(). With this method one can set whether collisions should be detected between shapes belonging to a given pair of groups. Initially all pairs are enabled.

Fluids can be assigned to collision groups as well.

Collision groups are integers between 0 and 31.

Definition at line 1622 of file physxScene.cxx.

void PhysxScene::set_shape_pair_flag	(	PhysxShape &	shapeA,
		PhysxShape &	shapeB,
		bool	value
	)

Disables or enables contact generation for a pair of shapes.

The two shape references must not reference the same shape.

Definition at line 1355 of file physxScene.cxx.

void PhysxScene::set_timing_fixed	(	float	maxTimestep = `1.0f/60.0f`,
		unsigned int	maxIter = `8`
	)

Sets simulation timing parameters used in simulate.

The elapsed time (parameter "dt" in simulate()) is internally subdivided into up to maxIter substeps no larger than maxTimestep. If the elapsed time is not a multiple of maxTimestep then any remaining time is accumulated to be added onto the elapsed time for the next time step. If more sub steps than maxIter are needed to advance the simulation by elapsed time, then the remaining time is also accumulated for the next call to simulate().

This timing method is strongly preferred for stable, reproducible simulation.

Definition at line 333 of file physxScene.cxx.

void PhysxScene::set_timing_variable ( )

Sets simulation timing parameters used in simulate.

Definition at line 309 of file physxScene.cxx.

void PhysxScene::simulate ( float dt )

Advances the simulation by an elapsedTime time.

The elapsed time has to be in the range (0, inf).

It is not allowed to modify the physics scene in between the simulate(dt) and the fetch_results calls! But it is allowed to read from the scene and do additional computations, e. g. AI, in between these calls.

Definition at line 200 of file physxScene.cxx.

The documentation for this class was generated from the following files:

panda/src/physx/physxScene.h
panda/src/physx/physxScene.cxx
panda/src/physx/physxScene.I

PhysxScene Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation