An array of contact points, as passed to contact modification. More...

#include <PxContactModifyCallback.h>

Collaboration diagram for physx::PxContactSet:

Public Member Functions
PX_FORCE_INLINE const PxVec3 &	getPoint (PxU32 i) const
	Get the position of a specific contact point in the set.

PX_FORCE_INLINE void	setPoint (PxU32 i, const PxVec3 &p)
	Alter the position of a specific contact point in the set.

PX_FORCE_INLINE const PxVec3 &	getNormal (PxU32 i) const
	Get the contact normal of a specific contact point in the set.

PX_FORCE_INLINE void	setNormal (PxU32 i, const PxVec3 &n)
	Alter the contact normal of a specific contact point in the set.

PX_FORCE_INLINE PxReal	getSeparation (PxU32 i) const
	Get the separation distance of a specific contact point in the set.

PX_FORCE_INLINE void	setSeparation (PxU32 i, PxReal s)
	Alter the separation of a specific contact point in the set.

PX_FORCE_INLINE const PxVec3 &	getTargetVelocity (PxU32 i) const
	Get the target velocity of a specific contact point in the set.

PX_FORCE_INLINE void	setTargetVelocity (PxU32 i, const PxVec3 &v)
	Alter the target velocity of a specific contact point in the set.

PX_FORCE_INLINE PxU32	getInternalFaceIndex0 (PxU32 i) const
	Get the face index with respect to the first shape of the pair for a specific contact point in the set.

PX_FORCE_INLINE PxU32	getInternalFaceIndex1 (PxU32 i) const
	Get the face index with respect to the second shape of the pair for a specific contact point in the set.

PX_FORCE_INLINE PxReal	getMaxImpulse (PxU32 i) const
	Get the maximum impulse for a specific contact point in the set.

PX_FORCE_INLINE void	setMaxImpulse (PxU32 i, PxReal s)
	Alter the maximum impulse for a specific contact point in the set.

PX_FORCE_INLINE PxReal	getRestitution (PxU32 i) const
	Get the restitution coefficient for a specific contact point in the set.

PX_FORCE_INLINE void	setRestitution (PxU32 i, PxReal r)
	Alter the restitution coefficient for a specific contact point in the set.

PX_FORCE_INLINE PxReal	getStaticFriction (PxU32 i) const
	Get the static friction coefficient for a specific contact point in the set.

PX_FORCE_INLINE void	setStaticFriction (PxU32 i, PxReal f)
	Alter the static friction coefficient for a specific contact point in the set.

PX_FORCE_INLINE PxReal	getDynamicFriction (PxU32 i) const
	Get the static friction coefficient for a specific contact point in the set.

PX_FORCE_INLINE void	setDynamicFriction (PxU32 i, PxReal f)
	Alter the static dynamic coefficient for a specific contact point in the set.

PX_FORCE_INLINE void	ignore (PxU32 i)
	Ignore the contact point.

PX_FORCE_INLINE PxU32	size () const
	The number of contact points in the set.

PX_FORCE_INLINE PxReal	getInvMassScale0 () const
	Returns the invMassScale of body 0.

PX_FORCE_INLINE PxReal	getInvMassScale1 () const
	Returns the invMassScale of body 1.

PX_FORCE_INLINE PxReal	getInvInertiaScale0 () const
	Returns the invInertiaScale of body 0.

PX_FORCE_INLINE PxReal	getInvInertiaScale1 () const
	Returns the invInertiaScale of body 1.

PX_FORCE_INLINE void	setInvMassScale0 (const PxReal scale)
	Sets the invMassScale of body 0.

PX_FORCE_INLINE void	setInvMassScale1 (const PxReal scale)
	Sets the invMassScale of body 1.

PX_FORCE_INLINE void	setInvInertiaScale0 (const PxReal scale)
	Sets the invInertiaScale of body 0.

PX_FORCE_INLINE void	setInvInertiaScale1 (const PxReal scale)
	Sets the invInertiaScale of body 1.

Protected Member Functions
PX_FORCE_INLINE PxContactPatch *	getPatch () const

Protected Attributes
PxU32	mCount
	Number of contact points in the set.

PxModifiableContact *	mContacts
	The contact points of the set.

Detailed Description

An array of contact points, as passed to contact modification.

The word 'set' in the name does not imply that duplicates are filtered in any way. This initial set of contacts does potentially get reduced to a smaller set before being passed to the solver.

You can use the accessors to read and write contact properties. The number of contacts is immutable, other than being able to disable contacts using ignore().

See also: PxContactModifyCallback, PxModifiableContact

Member Function Documentation

◆ getDynamicFriction()

PX_FORCE_INLINE PxReal physx::PxContactSet::getDynamicFriction ( PxU32 i ) const

inline

Get the static friction coefficient for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The friction coefficient

See also: PxModifiableContact.dynamicFriction

◆ getInternalFaceIndex0()

PX_FORCE_INLINE PxU32 physx::PxContactSet::getInternalFaceIndex0 ( PxU32 i ) const

inline

Get the face index with respect to the first shape of the pair for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The face index of the first shape

Note: At the moment, the first shape is never a tri-mesh, therefore this function always returns PXC_CONTACT_NO_FACE_INDEX

See also: PxModifiableContact.internalFaceIndex0

◆ getInternalFaceIndex1()

PX_FORCE_INLINE PxU32 physx::PxContactSet::getInternalFaceIndex1 ( PxU32 i ) const

inline

Get the face index with respect to the second shape of the pair for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The face index of the second shape

See also: PxModifiableContact.internalFaceIndex1

◆ getInvInertiaScale0()

PX_FORCE_INLINE PxReal physx::PxContactSet::getInvInertiaScale0 ( ) const

inline

Returns the invInertiaScale of body 0.

A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

◆ getInvInertiaScale1()

PX_FORCE_INLINE PxReal physx::PxContactSet::getInvInertiaScale1 ( ) const

inline

Returns the invInertiaScale of body 1.

A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

◆ getInvMassScale0()

PX_FORCE_INLINE PxReal physx::PxContactSet::getInvMassScale0 ( ) const

inline

Returns the invMassScale of body 0.

A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

◆ getInvMassScale1()

PX_FORCE_INLINE PxReal physx::PxContactSet::getInvMassScale1 ( ) const

inline

Returns the invMassScale of body 1.

A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

◆ getMaxImpulse()

PX_FORCE_INLINE PxReal physx::PxContactSet::getMaxImpulse ( PxU32 i ) const

inline

Get the maximum impulse for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The maximum impulse

See also: PxModifiableContact.maxImpulse

◆ getNormal()

PX_FORCE_INLINE const PxVec3 & physx::PxContactSet::getNormal ( PxU32 i ) const

inline

Get the contact normal of a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The requested normal in world space

See also: PxModifiableContact.normal

◆ getPoint()

PX_FORCE_INLINE const PxVec3 & physx::PxContactSet::getPoint ( PxU32 i ) const

inline

Get the position of a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: Position to the requested point in world space

See also: PxModifiableContact.point

◆ getRestitution()

PX_FORCE_INLINE PxReal physx::PxContactSet::getRestitution ( PxU32 i ) const

inline

Get the restitution coefficient for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The restitution coefficient

See also: PxModifiableContact.restitution

◆ getSeparation()

PX_FORCE_INLINE PxReal physx::PxContactSet::getSeparation ( PxU32 i ) const

inline

Get the separation distance of a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The separation. Negative implies penetration.

See also: PxModifiableContact.separation

◆ getStaticFriction()

PX_FORCE_INLINE PxReal physx::PxContactSet::getStaticFriction ( PxU32 i ) const

inline

Get the static friction coefficient for a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The friction coefficient (dimensionless)

See also: PxModifiableContact.staticFriction

◆ getTargetVelocity()

PX_FORCE_INLINE const PxVec3 & physx::PxContactSet::getTargetVelocity ( PxU32 i ) const

inline

Get the target velocity of a specific contact point in the set.

Parameters

[in] i Index of the point in the set

Returns: The target velocity in world frame

See also: PxModifiableContact.targetVelocity

◆ ignore()

PX_FORCE_INLINE void physx::PxContactSet::ignore ( PxU32 i )

inline

Ignore the contact point.

Parameters

[in] i Index of the point in the set

If a contact point is ignored then no force will get applied at this point. This can be used to disable collision in certain areas of a shape, for example.

◆ setDynamicFriction()

PX_FORCE_INLINE void physx::PxContactSet::setDynamicFriction	(	PxU32	i,
		PxReal	f
	)

inline

Alter the static dynamic coefficient for a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	f	The new friction coefficient

See also: PxModifiableContact.dynamicFriction

◆ setInvInertiaScale0()

PX_FORCE_INLINE void physx::PxContactSet::setInvInertiaScale0 ( const PxReal scale )

inline

Sets the invInertiaScale of body 0.

Parameters

[in] scale The new scale

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

◆ setInvInertiaScale1()

PX_FORCE_INLINE void physx::PxContactSet::setInvInertiaScale1 ( const PxReal scale )

inline

Sets the invInertiaScale of body 1.

Parameters

[in] scale The new scale

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.

◆ setInvMassScale0()

PX_FORCE_INLINE void physx::PxContactSet::setInvMassScale0 ( const PxReal scale )

inline

Sets the invMassScale of body 0.

Parameters

[in] scale The new scale

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

◆ setInvMassScale1()

PX_FORCE_INLINE void physx::PxContactSet::setInvMassScale1 ( const PxReal scale )

inline

Sets the invMassScale of body 1.

Parameters

[in] scale The new scale

This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.

◆ setMaxImpulse()

PX_FORCE_INLINE void physx::PxContactSet::setMaxImpulse	(	PxU32	i,
		PxReal	s
	)

inline

Alter the maximum impulse for a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	s	The new maximum impulse

Note: Must be nonnegative. If set to zero, the contact point will be ignored

See also: PxModifiableContact.maxImpulse, ignore()

◆ setNormal()

PX_FORCE_INLINE void physx::PxContactSet::setNormal	(	PxU32	i,
		const PxVec3 &	n
	)

inline

Alter the contact normal of a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	n	The new normal in world space

Note: Changing the normal can cause contact points to be ignored.

See also: PxModifiableContact.normal

◆ setPoint()

PX_FORCE_INLINE void physx::PxContactSet::setPoint	(	PxU32	i,
		const PxVec3 &	p
	)

inline

Alter the position of a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	p	The new position in world space

See also: PxModifiableContact.point

◆ setRestitution()

PX_FORCE_INLINE void physx::PxContactSet::setRestitution	(	PxU32	i,
		PxReal	r
	)

inline

Alter the restitution coefficient for a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	r	The new restitution coefficient

Note: Valid ranges [0,1]

See also: PxModifiableContact.restitution

◆ setSeparation()

PX_FORCE_INLINE void physx::PxContactSet::setSeparation	(	PxU32	i,
		PxReal	s
	)

inline

Alter the separation of a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	s	The new separation

See also: PxModifiableContact.separation

◆ setStaticFriction()

PX_FORCE_INLINE void physx::PxContactSet::setStaticFriction	(	PxU32	i,
		PxReal	f
	)

inline

Alter the static friction coefficient for a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	f	The new friction coefficient (dimensionless), range [0, inf]

See also: PxModifiableContact.staticFriction

◆ setTargetVelocity()

PX_FORCE_INLINE void physx::PxContactSet::setTargetVelocity	(	PxU32	i,
		const PxVec3 &	v
	)

inline

Alter the target velocity of a specific contact point in the set.

Parameters

[in]	i	Index of the point in the set
[in]	v	The new velocity in world frame

See also: PxModifiableContact.targetVelocity

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

RavEngine/deps/physx/physx/include/PxContactModifyCallback.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ getDynamicFriction()

◆ getInternalFaceIndex0()

◆ getInternalFaceIndex1()

◆ getInvInertiaScale0()

◆ getInvInertiaScale1()

◆ getInvMassScale0()

◆ getInvMassScale1()

◆ getMaxImpulse()

◆ getNormal()

◆ getPoint()

◆ getRestitution()

◆ getSeparation()

◆ getStaticFriction()

◆ getTargetVelocity()

◆ ignore()

◆ setDynamicFriction()

◆ setInvInertiaScale0()

◆ setInvInertiaScale1()

◆ setInvMassScale0()

◆ setInvMassScale1()

◆ setMaxImpulse()

◆ setNormal()

◆ setPoint()

◆ setRestitution()

◆ setSeparation()

◆ setStaticFriction()

◆ setTargetVelocity()