physx::RaycastCCDManager Class Reference

Raycast-CCD manager. More...

#include <PxRaycastCCD.h>

Public Member Functions
	RaycastCCDManager (PxScene *scene)
bool	registerRaycastCCDObject (PxRigidDynamic *actor, PxShape *shape)
	Register dynamic object for raycast CCD.
bool	unregisterRaycastCCDObject (PxRigidDynamic *actor, PxShape *shape)
	Unregister dynamic object for raycast CCD.
void	doRaycastCCD (bool doDynamicDynamicCCD)
	Perform raycast CCD. Call this after your simulate/fetchResults calls.

Detailed Description

Raycast-CCD manager.

Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.

This implementation has some limitations:

• it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
• it is only implemented for simple actors with 1 shape (not for "compounds")

Also, since it is raycast-based, the solution is not perfect. In particular:

• small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small hole in the world (like the keyhole from a door).
• dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against slow-moving dynamic objects.

Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE (and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.

Member Function Documentation

doRaycastCCD()

void RaycastCCDManager::doRaycastCCD

(

bool

doDynamicDynamicCCD

)

Perform raycast CCD. Call this after your simulate/fetchResults calls.

Parameters

[in]

doDynamicDynamicCCD

True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)

registerRaycastCCDObject()

bool RaycastCCDManager::registerRaycastCCDObject	(	PxRigidDynamic *	actor,
		PxShape *	shape
	)

Register dynamic object for raycast CCD.

Parameters

[in]	actor	object's actor
[in]	shape	object's shape

Returns

True if success

unregisterRaycastCCDObject()

bool RaycastCCDManager::unregisterRaycastCCDObject	(	PxRigidDynamic *	actor,
		PxShape *	shape
	)

Unregister dynamic object for raycast CCD.

Parameters

[in]	actor	object's actor
[in]	shape	object's shape

Returns

True if success

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

• RavEngine/deps/physx/physx/include/extensions/PxRaycastCCD.h
• RavEngine/deps/physx/physx/source/physxextensions/src/ExtRaycastCCD.cpp