physx::PxSceneDesc Class Reference

Descriptor class for scenes. See #PxScene. More...

#include <PxSceneDesc.h>

Inheritance diagram for physx::PxSceneDesc:

Collaboration diagram for physx::PxSceneDesc:

Public Member Functions
PX_INLINE	PxSceneDesc (const PxTolerancesScale &scale)
	constructor sets to default.
PX_INLINE void	setToDefault (const PxTolerancesScale &scale)
	(re)sets the structure to the default.
PX_INLINE bool	isValid () const
	Returns true if the descriptor is valid.
Public Member Functions inherited from physx::PxSceneQueryDesc
PX_INLINE	PxSceneQueryDesc ()
	constructor sets to default.
PX_INLINE void	setToDefault ()
	(re)sets the structure to the default.
PX_INLINE bool	isValid () const
	Returns true if the descriptor is valid.

Public Attributes
PxVec3	gravity
	Gravity vector.
PxSimulationEventCallback *	simulationEventCallback
	Possible notification callback.
PxContactModifyCallback *	contactModifyCallback
	Possible asynchronous callback for contact modification.
PxCCDContactModifyCallback *	ccdContactModifyCallback
	Possible asynchronous callback for contact modification.
const void *	filterShaderData
	Shared global filter data which will get passed into the filter shader.
PxU32	filterShaderDataSize
	Size (in bytes) of the shared global filter data filterShaderData.
PxSimulationFilterShader	filterShader
	The custom filter shader to use for collision filtering.
PxSimulationFilterCallback *	filterCallback
	A custom collision filter callback which can be used to implement more complex filtering operations which need access to the simulation state, for example.
PxPairFilteringMode::Enum	kineKineFilteringMode
	Filtering mode for kinematic-kinematic pairs in the broadphase.
PxPairFilteringMode::Enum	staticKineFilteringMode
	Filtering mode for static-kinematic pairs in the broadphase.
PxBroadPhaseType::Enum	broadPhaseType
	Selects the broad-phase algorithm to use.
PxBroadPhaseCallback *	broadPhaseCallback
	Broad-phase callback.
PxSceneLimits	limits
	Expected scene limits.
PxFrictionType::Enum	frictionType
	Selects the friction algorithm to use for simulation.
PxSolverType::Enum	solverType
	Selects the solver algorithm to use.
PxReal	bounceThresholdVelocity
	A contact with a relative velocity below this will not bounce. A typical value for simulation. stability is about 0.2 * gravity.
PxReal	frictionOffsetThreshold
	A threshold of contact separation distance used to decide if a contact point will experience friction forces.
PxReal	frictionCorrelationDistance
	Friction correlation distance used to decide whether contacts are close enough to be merged into a single friction anchor point or not.
PxSceneFlags	flags
	Flags used to select scene options.
PxCpuDispatcher *	cpuDispatcher
	The CPU task dispatcher for the scene.
PxCudaContextManager *	cudaContextManager
	The CUDA context manager for the scene.
void *	userData
	Will be copied to PxScene::userData.
PxU32	solverBatchSize
	Defines the number of actors required to spawn a separate rigid body solver island task chain.
PxU32	solverArticulationBatchSize
	Defines the number of articulations required to spawn a separate rigid body solver island task chain.
PxU32	nbContactDataBlocks
	Setting to define the number of 16K blocks that will be initially reserved to store contact, friction, and contact cache data. This is the number of 16K memory blocks that will be automatically allocated from the user allocator when the scene is instantiated. Further 16k memory blocks may be allocated during the simulation up to maxNbContactDataBlocks.
PxU32	maxNbContactDataBlocks
	Setting to define the maximum number of 16K blocks that can be allocated to store contact, friction, and contact cache data. As the complexity of a scene increases, the SDK may require to allocate new 16k blocks in addition to the blocks it has already allocated. This variable controls the maximum number of blocks that the SDK can allocate.
PxReal	maxBiasCoefficient
	The maximum bias coefficient used in the constraint solver.
PxU32	contactReportStreamBufferSize
	Size of the contact report stream (in bytes).
PxU32	ccdMaxPasses
	Maximum number of CCD passes.
PxReal	ccdThreshold
	CCD threshold.
PxReal	ccdMaxSeparation
	A threshold for speculative CCD. Used to control whether bias, restitution or a combination of the two are used to resolve the contacts.
PxReal	wakeCounterResetValue
	The wake counter reset value.
PxBounds3	sanityBounds
	The bounds used to sanity check user-set positions of actors and articulation links.
PxgDynamicsMemoryConfig	gpuDynamicsConfig
	The pre-allocations performed in the GPU dynamics pipeline.
PxU32	gpuMaxNumPartitions
	Limitation for the partitions in the GPU dynamics pipeline. This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)
PxU32	gpuMaxNumStaticPartitions
	Limitation for the number of static rigid body partitions in the GPU dynamics pipeline. Range: (1, 255) Default: 16.
PxU32	gpuComputeVersion
	Defines which compute version the GPU dynamics should target. DO NOT MODIFY.
PxU32	contactPairSlabSize
	Defines the size of a contact pool slab. Contact pairs and associated data are allocated using a pool allocator. Increasing the slab size can trade off some performance spikes when a large number of new contacts are found for an increase in overall memory usage.
PxSceneQuerySystem *	sceneQuerySystem
	The scene query sub-system for the scene.
Public Attributes inherited from physx::PxSceneQueryDesc
PxPruningStructureType::Enum	staticStructure
	Defines the structure used to store static objects (PxRigidStatic actors).
PxPruningStructureType::Enum	dynamicStructure
	Defines the structure used to store dynamic objects (non-PxRigidStatic actors).
PxU32	dynamicTreeRebuildRateHint
	Hint for how much work should be done per simulation frame to rebuild the pruning structures.
PxDynamicTreeSecondaryPruner::Enum	dynamicTreeSecondaryPruner
	Secondary pruner for dynamic tree.
PxBVHBuildStrategy::Enum	staticBVHBuildStrategy
	Build strategy for PxSceneQueryDesc::staticStructure.
PxBVHBuildStrategy::Enum	dynamicBVHBuildStrategy
	Build strategy for PxSceneQueryDesc::dynamicStructure.
PxU32	staticNbObjectsPerNode
	Number of objects per node for PxSceneQueryDesc::staticStructure.
PxU32	dynamicNbObjectsPerNode
	Number of objects per node for PxSceneQueryDesc::dynamicStructure.
PxSceneQueryUpdateMode::Enum	sceneQueryUpdateMode
	Defines the scene query update mode.

Detailed Description

Descriptor class for scenes. See #PxScene.

This struct must be initialized with the same PxTolerancesScale values used to initialize PxPhysics.

See also

PxScene PxPhysics.createScene PxTolerancesScale

Constructor & Destructor Documentation

PxSceneDesc()

PX_INLINE physx::PxSceneDesc::PxSceneDesc

(

const PxTolerancesScale &

scale

)

constructor sets to default.

Parameters

[in]

scale

scale values for the tolerances in the scene, these must be the same values passed into PxCreatePhysics(). The affected tolerances are bounceThresholdVelocity and frictionOffsetThreshold.

See also

PxCreatePhysics() PxTolerancesScale bounceThresholdVelocity frictionOffsetThreshold

Member Function Documentation

isValid()

PX_INLINE bool physx::PxSceneDesc::isValid

(

)

const

Returns true if the descriptor is valid.

Returns

true if the current settings are valid.

setToDefault()

PX_INLINE void physx::PxSceneDesc::setToDefault

(

const PxTolerancesScale &

scale

)

(re)sets the structure to the default.

Parameters

[in]

scale

scale values for the tolerances in the scene, these must be the same values passed into PxCreatePhysics(). The affected tolerances are bounceThresholdVelocity and frictionOffsetThreshold.

See also

PxCreatePhysics() PxTolerancesScale bounceThresholdVelocity frictionOffsetThreshold

Member Data Documentation

bounceThresholdVelocity

PxReal physx::PxSceneDesc::bounceThresholdVelocity

A contact with a relative velocity below this will not bounce. A typical value for simulation. stability is about 0.2 * gravity.

Range: (0, PX_MAX_F32)
Default: 0.2 * PxTolerancesScale::speed

See also

PxMaterial PxScene.setBounceThresholdVelocity() PxScene.getBounceThresholdVelocity()

broadPhaseCallback

PxBroadPhaseCallback* physx::PxSceneDesc::broadPhaseCallback

Broad-phase callback.

Default: NULL

See also

PxBroadPhaseCallback PxScene.getBroadPhaseCallback() PxScene.setBroadPhaseCallback()

broadPhaseType

PxBroadPhaseType::Enum physx::PxSceneDesc::broadPhaseType

Selects the broad-phase algorithm to use.

Default: PxBroadPhaseType::ePABP

See also

PxBroadPhaseType PxScene.getBroadPhaseType()

ccdContactModifyCallback

PxCCDContactModifyCallback* physx::PxSceneDesc::ccdContactModifyCallback

Possible asynchronous callback for contact modification.

Default: NULL

See also

PxContactModifyCallback PxScene.setContactModifyCallback() PxScene.getContactModifyCallback()

ccdMaxPasses

PxU32 physx::PxSceneDesc::ccdMaxPasses

Maximum number of CCD passes.

The CCD performs multiple passes, where each pass every object advances to its time of first impact. This value defines how many passes the CCD system should perform.

Note

The CCD system is a multi-pass best-effort conservative advancement approach. After the defined number of passes has been completed, any remaining time is dropped.

This defines the maximum number of passes the CCD can perform. It may perform fewer if additional passes are not necessary.

Default: 1 Range: [1, PX_MAX_U32]

See also

PxScene.setCCDMaxPasses() PxScene.getCCDMaxPasses()

ccdMaxSeparation

PxReal physx::PxSceneDesc::ccdMaxSeparation

A threshold for speculative CCD. Used to control whether bias, restitution or a combination of the two are used to resolve the contacts.

Note

This only has any effect on contacting pairs where one of the bodies has PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD raised.

Range: [0, PX_MAX_F32)
Default: 0.04 * PxTolerancesScale::length

See also

PxScene.setCCDMaxSeparation() PxScene.getCCDMaxSeparation()

ccdThreshold

PxReal physx::PxSceneDesc::ccdThreshold

CCD threshold.

CCD performs sweeps against shapes if and only if the relative motion of the shapes is fast-enough that a collision would be missed by the discrete contact generation. However, in some circumstances, e.g. when the environment is constructed from large convex shapes, this approach may produce undesired simulation artefacts. This parameter defines the minimum relative motion that would be required to force CCD between shapes. The smaller of this value and the sum of the thresholds calculated for the shapes involved will be used.

Note

It is not advisable to set this to a very small value as this may lead to CCD "jamming" and detrimentally effect performance. This value should be at least larger than the translation caused by a single frame's gravitational effect

Default: PX_MAX_F32 Range: [Eps, PX_MAX_F32]

See also

PxScene.setCCDThreshold() PxScene.getCCDThreshold()

contactModifyCallback

PxContactModifyCallback* physx::PxSceneDesc::contactModifyCallback

Possible asynchronous callback for contact modification.

Default: NULL

See also

PxContactModifyCallback PxScene.setContactModifyCallback() PxScene.getContactModifyCallback()

contactPairSlabSize

PxU32 physx::PxSceneDesc::contactPairSlabSize

Defines the size of a contact pool slab. Contact pairs and associated data are allocated using a pool allocator. Increasing the slab size can trade off some performance spikes when a large number of new contacts are found for an increase in overall memory usage.

Range:(1, PX_MAX_U32)
Default: 256

contactReportStreamBufferSize

PxU32 physx::PxSceneDesc::contactReportStreamBufferSize

Size of the contact report stream (in bytes).

The contact report stream buffer is used during the simulation to store all the contact reports. If the size is not sufficient, the buffer will grow by a factor of two. It is possible to disable the buffer growth by setting the flag PxSceneFlag::eDISABLE_CONTACT_REPORT_BUFFER_RESIZE. In that case the buffer will not grow but contact reports not stored in the buffer will not get sent in the contact report callbacks.

Default: 8192

Range: (0, PX_MAX_U32]

See also

PxScene.getContactReportStreamBufferSize()

cpuDispatcher

PxCpuDispatcher* physx::PxSceneDesc::cpuDispatcher

The CPU task dispatcher for the scene.

See also

PxCpuDispatcher, PxScene::getCpuDispatcher

cudaContextManager

PxCudaContextManager* physx::PxSceneDesc::cudaContextManager

The CUDA context manager for the scene.

Platform specific: Applies to PC GPU only.

See also

PxCudaContextManager, PxScene::getCudaContextManager

filterCallback

PxSimulationFilterCallback* physx::PxSceneDesc::filterCallback

A custom collision filter callback which can be used to implement more complex filtering operations which need access to the simulation state, for example.

Default: NULL

See also

PxSimulationFilterCallback PxScene.getFilterCallback()

filterShader

PxSimulationFilterShader physx::PxSceneDesc::filterShader

The custom filter shader to use for collision filtering.

Note

This parameter is compulsory. If you don't want to define your own filter shader you can use the default shader PxDefaultSimulationFilterShader which can be found in the PhysX extensions library.

See also

PxSimulationFilterShader PxScene.getFilterShader()

filterShaderData

const void* physx::PxSceneDesc::filterShaderData

Shared global filter data which will get passed into the filter shader.

Note

The provided data will get copied to internal buffers and this copy will be used for filtering calls.

Default: NULL

See also

PxSimulationFilterShader PxScene.setFilterShaderData() PxScene.getFilterShaderData()

filterShaderDataSize

PxU32 physx::PxSceneDesc::filterShaderDataSize

Size (in bytes) of the shared global filter data filterShaderData.

Default: 0

See also

PxSimulationFilterShader filterShaderData PxScene.getFilterShaderDataSize()

flags

PxSceneFlags physx::PxSceneDesc::flags

Flags used to select scene options.

Default: PxSceneFlag::eENABLE_PCM

See also

PxSceneFlag PxSceneFlags PxScene.getFlags() PxScene.setFlag()

frictionCorrelationDistance

PxReal physx::PxSceneDesc::frictionCorrelationDistance

Friction correlation distance used to decide whether contacts are close enough to be merged into a single friction anchor point or not.

Note

If the correlation distance is larger than the distance between contact points generated between a pair of shapes, some of the contacts may not experience frictional forces.

This parameter can be used to tune the correlation distance used in the solver. Contact points can be merged into a single friction anchor if the distance between the contacts is smaller than correlation distance.

Range: [0, PX_MAX_F32)
Default: 0.025f * PxTolerancesScale::length

See also

PxScene.setFrictionCorrelationDistance() PxScene.getFrictionCorrelationDistance()

frictionOffsetThreshold

PxReal physx::PxSceneDesc::frictionOffsetThreshold

A threshold of contact separation distance used to decide if a contact point will experience friction forces.

Note

If the separation distance of a contact point is greater than the threshold then the contact point will not experience friction forces.

If the aggregated contact offset of a pair of shapes is large it might be desirable to neglect friction for contact points whose separation distance is sufficiently large that the shape surfaces are clearly separated.

This parameter can be used to tune the separation distance of contact points at which friction starts to have an effect.

Range: [0, PX_MAX_F32)
Default: 0.04 * PxTolerancesScale::length

See also

PxScene.setFrictionOffsetThreshold() PxScene.getFrictionOffsetThreshold()

frictionType

PxFrictionType::Enum physx::PxSceneDesc::frictionType

Selects the friction algorithm to use for simulation.

Note

frictionType cannot be modified after the first call to any of PxScene::simulate, PxScene::solve and PxScene::collide

Default: PxFrictionType::ePATCH

See also

PxFrictionType PxScene.setFrictionType(), PxScene.getFrictionType()

gravity

PxVec3 physx::PxSceneDesc::gravity

Gravity vector.

Range: force vector
Default: Zero

See also

PxScene.setGravity() PxScene.getGravity()

When setting gravity, you should probably also set bounce threshold.

kineKineFilteringMode

PxPairFilteringMode::Enum physx::PxSceneDesc::kineKineFilteringMode

Filtering mode for kinematic-kinematic pairs in the broadphase.

Default: PxPairFilteringMode::eDEFAULT

See also

PxPairFilteringMode PxScene.getKinematicKinematicFilteringMode()

limits

PxSceneLimits physx::PxSceneDesc::limits

Expected scene limits.

See also

PxSceneLimits PxScene.getLimits()

maxBiasCoefficient

PxReal physx::PxSceneDesc::maxBiasCoefficient

The maximum bias coefficient used in the constraint solver.

When geometric errors are found in the constraint solver, either as a result of shapes penetrating or joints becoming separated or violating limits, a bias is introduced in the solver position iterations to correct these errors. This bias is proportional to 1/dt, meaning that the bias becomes increasingly strong as the time-step passed to PxScene::simulate(...) becomes smaller. This coefficient allows the application to restrict how large the bias coefficient is, to reduce how violent error corrections are. This can improve simulation quality in cases where either variable time-steps or extremely small time-steps are used.

Default: PX_MAX_F32

Range [0, PX_MAX_F32]

See also

PxScene.setMaxBiasCoefficient() PxScene.getMaxBiasCoefficient()

maxNbContactDataBlocks

PxU32 physx::PxSceneDesc::maxNbContactDataBlocks

Setting to define the maximum number of 16K blocks that can be allocated to store contact, friction, and contact cache data. As the complexity of a scene increases, the SDK may require to allocate new 16k blocks in addition to the blocks it has already allocated. This variable controls the maximum number of blocks that the SDK can allocate.

In the case that the scene is sufficiently complex that all the permitted 16K blocks are used, contacts will be dropped and a warning passed to the error stream.

If a warning is reported to the error stream to indicate the number of 16K blocks is insufficient for the scene complexity then the choices are either (i) re-tune the number of 16K data blocks until a number is found that is sufficient for the scene complexity, (ii) to simplify the scene or (iii) to opt to not increase the memory requirements of physx and accept some dropped contacts.

Default: 65536

Range: [0, PX_MAX_U32]

See also

nbContactDataBlocks PxScene.setNbContactDataBlocks()

nbContactDataBlocks

PxU32 physx::PxSceneDesc::nbContactDataBlocks

Setting to define the number of 16K blocks that will be initially reserved to store contact, friction, and contact cache data. This is the number of 16K memory blocks that will be automatically allocated from the user allocator when the scene is instantiated. Further 16k memory blocks may be allocated during the simulation up to maxNbContactDataBlocks.

Note

This value cannot be larger than maxNbContactDataBlocks because that defines the maximum number of 16k blocks that can be allocated by the SDK.

Default: 0

Range: [0, PX_MAX_U32]

See also

PxPhysics::createScene PxScene::setNbContactDataBlocks

sanityBounds

PxBounds3 physx::PxSceneDesc::sanityBounds

The bounds used to sanity check user-set positions of actors and articulation links.

These bounds are used to check the position values of rigid actors inserted into the scene, and positions set for rigid actors already within the scene.

Range: any valid PxBounds3
Default: (-PX_MAX_BOUNDS_EXTENTS, PX_MAX_BOUNDS_EXTENTS) on each axis

sceneQuerySystem

PxSceneQuerySystem* physx::PxSceneDesc::sceneQuerySystem

The scene query sub-system for the scene.

If left to NULL, PxScene will use its usual internal sub-system. If non-NULL, all SQ-related calls will be re-routed to the user-provided implementation. An external SQ implementation is available in the Extensions library (see PxCreateExternalSceneQuerySystem). This can also be fully re-implemented by users if needed.

See also

PxSceneQuerySystem

simulationEventCallback

PxSimulationEventCallback* physx::PxSceneDesc::simulationEventCallback

Possible notification callback.

Default: NULL

See also

PxSimulationEventCallback PxScene.setSimulationEventCallback() PxScene.getSimulationEventCallback()

solverArticulationBatchSize

PxU32 physx::PxSceneDesc::solverArticulationBatchSize

Defines the number of articulations required to spawn a separate rigid body solver island task chain.

This parameter defines the minimum number of articulations required to spawn a separate rigid body solver task chain. Setting a low value will potentially cause more task chains to be generated. This may result in the overhead of spawning tasks can become a limiting performance factor. Setting a high value will potentially cause fewer islands to be generated. This may reduce thread scaling (fewer task chains spawned) and may detrimentally affect performance if some bodies in the scene have large solver iteration counts because all constraints in a given island are solved by the maximum number of solver iterations requested by any body in the island.

Note that a rigid body solver task chain is spawned as soon as either a sufficient number of rigid bodies or articulations are batched together.

Default: 16

See also

PxScene.setSolverArticulationBatchSize() PxScene.getSolverArticulationBatchSize()

solverBatchSize

PxU32 physx::PxSceneDesc::solverBatchSize

Defines the number of actors required to spawn a separate rigid body solver island task chain.

This parameter defines the minimum number of actors required to spawn a separate rigid body solver task chain. Setting a low value will potentially cause more task chains to be generated. This may result in the overhead of spawning tasks can become a limiting performance factor. Setting a high value will potentially cause fewer islands to be generated. This may reduce thread scaling (fewer task chains spawned) and may detrimentally affect performance if some bodies in the scene have large solver iteration counts because all constraints in a given island are solved by the maximum number of solver iterations requested by any body in the island.

Note that a rigid body solver task chain is spawned as soon as either a sufficient number of rigid bodies or articulations are batched together.

Default: 128

See also

PxScene.setSolverBatchSize() PxScene.getSolverBatchSize()

solverType

PxSolverType::Enum physx::PxSceneDesc::solverType

Selects the solver algorithm to use.

Default: PxSolverType::ePGS

See also

PxSolverType PxScene.getSolverType()

staticKineFilteringMode

PxPairFilteringMode::Enum physx::PxSceneDesc::staticKineFilteringMode

Filtering mode for static-kinematic pairs in the broadphase.

Default: PxPairFilteringMode::eDEFAULT

See also

PxPairFilteringMode PxScene.getStaticKinematicFilteringMode()

userData

void* physx::PxSceneDesc::userData

Will be copied to PxScene::userData.

Default: NULL

wakeCounterResetValue

PxReal physx::PxSceneDesc::wakeCounterResetValue

The wake counter reset value.

Calling wakeUp() on objects which support sleeping will set their wake counter value to the specified reset value.

Range: (0, PX_MAX_F32)
Default: 0.4 (which corresponds to 20 frames for a time step of 0.02)

See also

PxRigidDynamic::wakeUp() PxArticulationReducedCoordinate::wakeUp() PxScene.getWakeCounterResetValue()

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

• RavEngine/deps/physx/physx/include/PxSceneDesc.h