physx Namespace Reference

Sorts an array of objects in ascending order, assuming that the predicate implements the < operator: More...

Namespaces
namespace	Dy
	A header to represent a friction patch for the solver.
namespace	Gu
	Represents a sphere defined by its center point and radius.

Classes
struct	AlwaysInsideTester
class	BigConvexData
class	BigConvexDataBuilder
struct	BoundsLTE
class	BufferedSocketImpl
class	BV32TetrahedronMeshBuilder
class	BV32TriangleMeshBuilder
class	BV4TriangleMeshBuilder
struct	ClosestTetrahedronFinderCallback
class	CMemoryPool
class	CMemoryPoolManager
class	ConvexHull
class	ConvexHullBuilder
class	ConvexHullLib
class	ConvexMeshBuilder
class	ConvexPolygonsBuilder
class	Cooking
class	CVariableMemoryPool
class	DebugVizCallback
struct	endl_obj
class	ExtSceneQueries
class	Foundation
class	FrictionPatchStreamPair
class	GeometryUnion
struct	ImplicitSolverInput
struct	ImplicitSolverOutput
struct	Interpolation
struct	Interval
class	InvalidGeometry
class	MaterialCoreT
struct	MaterialIndicesStruct
class	Matrix33Solver
class	MatrixNGaussSeidelSolver
class	MatrixNN
class	MatrixNNLUSolver
class	MemoryBuffer
struct	MemoryBufferBase
struct	MeshData
struct	MFrictionVsSlipGraphProperty
struct	MTorqueCurveProperty
struct	NbCCDPairsProperty
struct	NbDiscreteContactPairsProperty
struct	NbModifiedContactPairsProperty
struct	NbShapesProperty
struct	NbTriggerPairsProperty
class	NpActor
class	NpActorTemplate
class	NpAggregate
class	NpArticulationAttachment
class	NpArticulationAttachmentArray
	!!AL TODO: check if default of 4 elements makes sense More...
class	NpArticulationFixedTendon
class	NpArticulationJointReducedCoordinate
class	NpArticulationLink
class	NpArticulationLinkArray
	!!AL TODO: check if default of 4 elements makes sense More...
class	NpArticulationReducedCoordinate
class	NpArticulationSensor
class	NpArticulationSpatialTendon
class	NpArticulationTendonJoint
class	NpArticulationTendonJointArray
	!!AL TODO: check if default of 4 elements makes sense More...
class	NpBase
class	NpConnector
class	NpConnectorArray
class	NpConnectorIterator
struct	NpConnectorType
class	NpConstraint
class	NpContactCallbackTask
class	NpFactory
class	NpFactoryListener
class	NpFEMSoftBodyMaterial
class	NpMaterial
class	NpMaterialAccessor
class	NpMaterialAccessor< NpFEMSoftBodyMaterial >
class	NpMaterialAccessor< NpMaterial >
class	NpMaterialAccessor< NpPBDMaterial >
struct	NpMaterialIndexTranslator
class	NpMaterialManager
class	NpMaterialManagerIterator
class	NpOmniPvd
class	NpParticleClothPreProcessor
class	NpParticleSystem
class	NpPBDMaterial
class	NpPBDParticleSystem
class	NpPhysics
class	NpPhysicsInsertionCallback
class	NpPtrTableStorageManager
class	NpReadCheck
class	NpRigidActorTemplate
class	NpRigidBodyTemplate
class	NpRigidDynamic
class	NpRigidStatic
class	NpScene
class	NpSceneAccessor
class	NpSceneQueries
class	NpShape
class	NpShapeManager
class	NpSoftBody
struct	NpType
class	NpWriteCheck
struct	NvPhysXToDrv_Data_V1_
struct	NvPhysXToDrv_Header_
struct	PartitionEdge
struct	PartitionIndexData
struct	PartitionNodeData
struct	PCMConvexVsHeightfieldContactGenerationCallback
struct	PCMConvexVsMeshContactGenerationCallback
struct	PCMSphereVsHeightfieldContactGenerationCallback
class	PhysXIndicator
struct	PointInOBBTester
struct	PointInSphereTester
struct	PointInVolumeTester
class	PoissonSamplerShared
struct	ProcessSuspWheelTireConstData
struct	ProcessSuspWheelTireInputData
struct	ProcessSuspWheelTireOutputData
struct	Px1DConstraint
	A one-dimensional constraint. More...
struct	Px1DConstraintFlag
	Constraint row flags. More...
class	PxAABBManager
	High-level broadphase API. More...
class	PxActor
	PxActor is the base class for the main simulation objects in the physics SDK. More...
struct	PxActorCacheFlag
	Identifies each type of information for retrieving from actor. More...
struct	PxActorFlag
	Flags which control the behavior of an actor. More...
struct	PxActorShape
	Combines a shape pointer and the actor the shape belongs to into one memory location. More...
struct	PxActorType
	Identifies each type of actor. More...
struct	PxActorTypeFlag
	Identifies each type of actor for retrieving actors from a scene. More...
class	PxAggregate
	Class to aggregate actors into a single broad-phase entry. More...
struct	PxAggregateRepXSerializer
struct	PxAggregateType
class	PxAlignedAllocator
class	PxAllocationListener
	Abstract listener class that listens to allocation and deallocation events from the foundation memory system. More...
class	PxAllocator
class	PxAllocatorCallback
	Abstract base class for an application defined memory allocator that can be used by the Nv library. More...
struct	PxAllocatorTraits
class	PxArray
class	PxArticulationAttachment
	Defines a spatial tendon attachment point on a link. More...
struct	PxArticulationAxis
class	PxArticulationCache
	Data structure used to read and write internal articulation data. More...
class	PxArticulationCacheFlag
	These flags determine what data is read or written to the internal articulation data via cache. More...
struct	PxArticulationDrive
	Data structure for articulation joint drive configuration. More...
struct	PxArticulationDriveType
class	PxArticulationFixedTendon
	A fixed tendon that can be used to link multiple degrees of freedom of multiple articulation joints via length and limit constraints. More...
struct	PxArticulationFlag
class	PxArticulationGpuDataType
	A description of the types of articulation data that may be directly written to and read from the GPU using the functions PxScene::copyArticulationData() and PxScene::applyArticulationData(). Types that are read-only may only be used in conjunction with PxScene::copyArticulationData(). Types that are write-only may only be used in conjunction with PxScene::applyArticulationData(). A subset of data types may be used in conjunction with both PxScene::applyArticulationData() and PxScene::applyArticulationData(). More...
class	PxArticulationJointReducedCoordinate
	A joint between two links in an articulation. More...
struct	PxArticulationJointType
struct	PxArticulationKinematicFlag
	Flag that configures articulation-state updates by PxArticulationReducedCoordinate::updateKinematic. More...
struct	PxArticulationLimit
	Data structure to set articulation joint limits. More...
class	PxArticulationLink
	A component of an articulation that represents a rigid body. More...
struct	PxArticulationLinkCollectionProp
struct	PxArticulationMotion
class	PxArticulationReducedCoordinate
	A tree structure of bodies connected by joints that is treated as a unit by the dynamics solver. Parametrized in reduced (joint) coordinates. More...
struct	PxArticulationReducedCoordinateLinkCollectionPropHelper
struct	PxArticulationReducedCoordinateRepXSerializer
struct	PxArticulationRootLinkData
	Data structure used to access the root link state and acceleration. More...
class	PxArticulationSensor
	A force sensor that can be attached to articulation links to measure spatial force. More...
struct	PxArticulationSensorFlag
	Flags to configure the forces reported by articulation link sensors. More...
class	PxArticulationSpatialTendon
	A spatial tendon that attaches to an articulation. More...
class	PxArticulationTendon
	Common API base class shared by PxArticulationSpatialTendon and PxArticulationFixedTendon. More...
class	PxArticulationTendonJoint
	Defines a fixed-tendon joint on an articulation joint degree of freedom. More...
class	PxArticulationTendonLimit
	Defines the low/high limits of the length of a tendon. More...
class	PxAssertHandler
	Base class to handle assert failures. More...
class	PxBase
	Base class for objects that can be members of a PxCollection. More...
struct	PxBaseFlag
	Flags for PxBase. More...
class	PxBaseMaterial
	Base material class. More...
class	PxBaseTask
	Base class of all task types. More...
class	PxBatchQueryExt
struct	PxBatchQueryStatus
class	PxBinaryConverter
	Binary converter for serialized streams. More...
class	PxBitAndDataT
class	PxBitMapBase
struct	PxBoundedData
class	PxBounds3
	Class representing 3D range or axis aligned bounding box. More...
struct	PxBounds3V
class	PxBoxController
	Box character controller. More...
class	PxBoxControllerDesc
	Descriptor for a box character controller. More...
class	PxBoxGeometry
	Class representing the geometry of a box. More...
class	PxBoxObstacle
	A box obstacle. More...
class	PxBroadcast
	Broadcast class implementation, registering listeners. More...
class	PxBroadcastingAllocator
	Abstract base class for an application defined memory allocator that allows an external listener to audit the memory allocations. More...
class	PxBroadcastingErrorCallback
	Abstract base class for an application defined error callback that allows an external listener to report errors. More...
class	PxBroadPhase
	Low-level broadphase API. More...
class	PxBroadPhaseCallback
	Broad-phase callback to receive broad-phase related events. More...
struct	PxBroadPhaseCaps
	Caps class for broad phase. More...
class	PxBroadPhaseDesc
	Broadphase descriptor. More...
class	PxBroadPhaseExt
struct	PxBroadPhasePair
	Broadphase pair. More...
struct	PxBroadPhaseRegion
	"Region of interest" for the broad-phase. More...
struct	PxBroadPhaseRegionInfo
	Information & stats structure for a region. More...
class	PxBroadPhaseRegions
	Broadphase regions. More...
struct	PxBroadPhaseResults
	Broadphase results. More...
struct	PxBroadPhaseType
	Broad phase algorithm used in the simulation. More...
class	PxBroadPhaseUpdateData
	Broadphase data update structure. More...
class	PxBuffer
	Buffer for delayed bulk read and write operations supporting host and GPU device memory spaces. More...
struct	PxBufferCollectionPropertyInfo
struct	PxBufferType
	Specifies memory space for a PxBuffer instance. More...
class	PxBVH
	Class representing a bounding volume hierarchy. More...
struct	PxBVH33MidphaseDesc
	Structure describing parameters affecting BVH33 midphase mesh structure. More...
class	PxBVH33TriangleMesh
	A triangle mesh containing the PxMeshMidPhase::eBVH33 structure. More...
struct	PxBVH33TriangleMeshRepXSerializer
struct	PxBVH34BuildStrategy
	Desired build strategy for PxMeshMidPhase::eBVH34. More...
struct	PxBVH34MidphaseDesc
	Structure describing parameters affecting BVH34 midphase mesh structure. More...
class	PxBVH34TriangleMesh
	A triangle mesh containing the PxMeshMidPhase::eBVH34 structure. More...
struct	PxBVH34TriangleMeshRepXSerializer
struct	PxBVHBuildStrategy
	Desired build strategy for bounding-volume hierarchies. More...
class	PxBVHDesc
	Descriptor class for #PxBVH. More...
struct	PxBVHInternalData
struct	PxCache
	A structure to cache contact information produced by low-level contact generation functions. More...
class	PxCacheAllocator
	A callback class to allocate memory to cache information used in contact generation. More...
struct	PxCapsuleClimbingMode
class	PxCapsuleController
	A capsule character controller. More...
class	PxCapsuleControllerDesc
	A descriptor for a capsule character controller. More...
class	PxCapsuleGeometry
	Class representing the geometry of a capsule. More...
class	PxCapsuleObstacle
	A capsule obstacle. More...
class	PxCCDContactModifyCallback
	An interface class that the user can implement in order to modify CCD contact constraints. More...
class	PxcConstraintBlockStream
class	PxcContactBlockStream
struct	PxcDataStreamPool
struct	PxcGeometryTraits
struct	PxcGeometryTraits< const T >
struct	PxcGeometryTraits< PxBoxGeometry >
struct	PxcGeometryTraits< PxCapsuleGeometry >
struct	PxcGeometryTraits< PxConvexMeshGeometry >
struct	PxcGeometryTraits< PxConvexMeshGeometryLL >
struct	PxcGeometryTraits< PxCustomGeometry >
struct	PxcGeometryTraits< PxHairSystemGeometry >
struct	PxcGeometryTraits< PxHairSystemGeometryLL >
struct	PxcGeometryTraits< PxHeightFieldGeometry >
struct	PxcGeometryTraits< PxHeightFieldGeometryLL >
struct	PxcGeometryTraits< PxParticleSystemGeometry >
struct	PxcGeometryTraits< PxParticleSystemGeometryLL >
struct	PxcGeometryTraits< PxPlaneGeometry >
struct	PxcGeometryTraits< PxSphereGeometry >
struct	PxcGeometryTraits< PxTetrahedronMeshGeometry >
struct	PxcGeometryTraits< PxTetrahedronMeshGeometryLL >
struct	PxcGeometryTraits< PxTriangleMeshGeometry >
struct	PxcGeometryTraits< PxTriangleMeshGeometryLL >
struct	PxClassInfoTraits
struct	PxcLocalContactsCache
struct	PxcNpCacheStreamPair
struct	PxcNpContext
struct	PxcNpMemBlock
class	PxcNpMemBlockPool
class	PxcNpThreadContext
struct	PxcNpWorkUnit
struct	PxcNpWorkUnitFlag
struct	PxcNpWorkUnitStatusFlag
class	PxCoalescedHashMap
class	PxCoalescedHashSet
class	PxCollection
	Collection class for serialization. More...
class	PxCollectionExt
struct	PxCollectionPropertyInfo
class	PxCollisionMeshMappingData
	Contains information about how to update the collision mesh's vertices given a deformed simulation tetmesh. More...
class	PxCollisionTetrahedronMeshData
	Conbines PxTetrahedronMeshData and PxSoftBodyCollisionData. More...
struct	PxCombineMode
	Enumeration that determines the way in which two material properties will be combined to yield a friction or restitution coefficient for a collision. More...
struct	PxConcreteType
	an enumeration of concrete classes inheriting from PxBase More...
struct	PxConeLimitedConstraint
	A constraint descriptor for limiting movement to a conical region. More...
struct	PxConeLimitParams
	Compressed form of cone limit parameters. More...
class	PxConstraint
	A plugin class for implementing constraints. More...
class	PxConstraintAllocator
struct	PxConstraintBatchHeader
	A header that defines the size of a specific batch of constraints (of same type and without dependencies) More...
class	PxConstraintConnector
	This class connects a custom constraint to the SDK. More...
struct	PxConstraintExtIDs
	Unique identifiers for extensions classes which implement a constraint based on PxConstraint. More...
struct	PxConstraintFlag
	constraint flags More...
struct	PxConstraintInfo
	Descriptor for a broken constraint. More...
struct	PxConstraintInvMassScale
	Struct for specifying mass scaling for a pair of rigids. More...
struct	PxConstraintShaderTable
	a table of function pointers for a constraint More...
struct	PxConstraintSolveHint
	Constraint type hints which the solver uses to optimize constraint handling. More...
struct	PxConstraintVisualizationFlag
	Flags for determining which components of the constraint should be visualized. More...
class	PxConstraintVisualizer
	API used to visualize details about a constraint. More...
struct	PxContact
	Contact point data. More...
class	PxContactBuffer
class	PxContactJoint
	a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects More...
class	PxContactModifyCallback
	An interface class that the user can implement in order to modify contact constraints. More...
class	PxContactModifyPair
	An array of instances of this class is passed to PxContactModifyCallback::onContactModify(). More...
struct	PxContactPair
	Contact report pair information. More...
struct	PxContactPairExtraDataItem
	Base class for items in the extra data stream of contact pairs. More...
struct	PxContactPairExtraDataIterator
	A class to iterate over a contact pair extra data stream. More...
struct	PxContactPairExtraDataType
	Extra data item types for contact pairs. More...
struct	PxContactPairFlag
	Collection of flags providing information on contact report pairs. More...
struct	PxContactPairHeader
	An Instance of this class is passed to PxSimulationEventCallback.onContact(). More...
struct	PxContactPairHeaderFlag
	Collection of flags providing information on contact report pairs. More...
struct	PxContactPairIndex
	Marker for the beginning of a new item set in the extra data stream. More...
struct	PxContactPairPoint
	A contact point as used by contact notification. More...
struct	PxContactPairPose
	World space actor poses of the contact pair rigid bodies. More...
struct	PxContactPairVelocity
	Velocities of the contact pair rigid bodies. More...
struct	PxContactPatch
	Header for a contact patch where all points share same material and normal. More...
struct	PxContactPoint
class	PxContactSet
	An array of contact points, as passed to contact modification. More...
struct	PxContactStreamIterator
	A class to iterate over a compressed contact stream. This supports read-only access to the various contact formats. More...
class	PxController
	Base class for character controllers. More...
class	PxControllerBehaviorCallback
	User behavior callback. More...
struct	PxControllerBehaviorFlag
	specifies controller behavior More...
struct	PxControllerCollisionFlag
	specifies which sides a character is colliding with. More...
struct	PxControllerDebugRenderFlag
	specifies debug-rendering flags More...
class	PxControllerDesc
	Descriptor class for a character controller. More...
class	PxControllerFilterCallback
	Dedicated filtering callback for CCT vs CCT. More...
class	PxControllerFilters
	Filtering data for "move" call. More...
struct	PxControllerHit
	Describes a generic CCT hit. More...
class	PxControllerManager
	Manages an array of character controllers. More...
struct	PxControllerNonWalkableMode
	specifies how a CCT interacts with non-walkable parts. More...
struct	PxControllerObstacleHit
	Describes a hit between a CCT and a user-defined obstacle. Passed to onObstacleHit(). More...
struct	PxControllerShapeHit
	Describes a hit between a CCT and a shape. Passed to onShapeHit() More...
struct	PxControllerShapeType
	The type of controller, eg box, sphere or capsule. More...
struct	PxControllersHit
	Describes a hit between a CCT and another CCT. Passed to onControllerHit(). More...
struct	PxControllerState
	Describes a controller's internal state. More...
struct	PxControllerStats
	Describes a controller's internal statistics. More...
struct	PxConverterReportMode
struct	PxConvexFlag
	Flags which describe the format and behavior of a convex mesh. More...
class	PxConvexMesh
	A convex mesh. More...
struct	PxConvexMeshCookingResult
	Result from convex cooking. More...
struct	PxConvexMeshCookingType
	Enumeration for convex mesh cooking algorithms. More...
class	PxConvexMeshDesc
	Descriptor class for #PxConvexMesh. More...
class	PxConvexMeshGeometry
	Convex mesh geometry class. More...
struct	PxConvexMeshGeometryFlag
	Flags controlling the simulated behavior of the convex mesh geometry. More...
struct	PxConvexMeshGeometryLL
struct	PxConvexMeshRepXSerializer
class	PxCooking
	Provides methods to cook (where cooking means to prepare the data and convert it to the right format potentially including the construction of acceleration structures and other support data) all kind of simulation data. More...
struct	PxCookingParams
	Structure describing parameters affecting mesh cooking. More...
struct	PxCounterFrequencyToTensOfNanos
class	PxCpuDispatcher
	A CpuDispatcher is responsible for scheduling the execution of tasks passed to it by the SDK. More...
class	PxcScratchAllocator
class	PxcThreadCoherentCache
class	PxcThreadCoherentCacheIterator
class	PxCustomGeometry
	Custom geometry class. This class allows user to create custom geometries by providing a set of virtual callback functions. More...
struct	PxCustomGeometryCustomTypeProperty
class	PxCustomGeometryExt
	Pre-made custom geometry callbacks implementations. More...
class	PxCustomMaterial
class	PxCustomParticleSystemSolverCallback
class	PxCustomSceneQuerySystem
	A custom scene query system. More...
class	PxCustomSceneQuerySystemAdapter
	An adapter class to customize the object-to-pruner mapping. More...
struct	PxD6Axis
	Used to specify one of the degrees of freedom of a D6 joint. More...
struct	PxD6Drive
	Used to specify which axes of a D6 joint are driven. More...
class	PxD6Joint
	A D6 joint is a general constraint between two actors. More...
class	PxD6JointDrive
	parameters for configuring the drive model of a PxD6Joint More...
struct	PxD6JointDriveFlag
	flags for configuring the drive model of a PxD6Joint More...
struct	PxD6Motion
	Used to specify the range of motions allowed for a degree of freedom in a D6 joint. More...
struct	PxDataAccessFlag
struct	PxDebugArc
struct	PxDebugArrow
struct	PxDebugBasis
struct	PxDebugBox
struct	PxDebugCircle
struct	PxDebugColor
	Default color values used for debug rendering. More...
struct	PxDebugLine
	Used to store a single line and colour for debug rendering. More...
struct	PxDebugPoint
	Used to store a single point and colour for debug rendering. More...
struct	PxDebugText
	Used to store a text for debug rendering. Doesn't own 'string' array. More...
struct	PxDebugTriangle
	Used to store a single triangle and colour for debug rendering. More...
class	PxDefaultAllocator
	default implementation of the allocator interface required by the SDK More...
class	PxDefaultCpuDispatcher
	A default implementation for a CPU task dispatcher. More...
struct	PxDefaultCpuDispatcherWaitForWorkMode
	If a thread ends up waiting for work it will find itself in a spin-wait loop until work becomes available. Three strategies are available to limit wasted cycles. The strategies are as follows: a) wait until a work task signals the end of the spin-wait period. b) yield the thread by providing a hint to reschedule thread execution, thereby allowing other threads to run. c) yield the processor by informing it that it is waiting for work and requesting it to more efficiently use compute resources. More...
class	PxDefaultErrorCallback
	default implementation of the error callback More...
class	PxDefaultFileInputData
	default implementation of a file read stream More...
class	PxDefaultFileOutputStream
	default implementation of a file write stream More...
class	PxDefaultMemoryInputData
	default implementation of a memory read stream More...
class	PxDefaultMemoryOutputStream
	default implementation of a memory write stream More...
class	PxDelayLoadHook
	PxDelayLoadHook. More...
struct	PxDeletionEventFlag
	Flags specifying deletion event types. More...
class	PxDeletionListener
	interface to get notification on object deletion More...
class	PxDeserializationContext
	Binary deserialization context class. More...
class	PxDiffuseParticleParams
	Parameters to configure the behavior of diffuse particles. More...
struct	PxDim3
	A helper structure to define dimensions in 3D. More...
class	PxDistanceJoint
	a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects More...
struct	PxDistanceJointFlag
	flags for configuring the drive of a PxDistanceJoint More...
struct	PxDominanceGroupPair
	Expresses the dominance relationship of a contact. For the time being only three settings are permitted: More...
struct	PxDualIndexedPropertyInfo
class	PxDynamicArrayReportCallback
	Dynamic array report callback. More...
struct	PxDynamicTreeSecondaryPruner
	Secondary pruning structure used for newly added objects in dynamic trees. More...
struct	PxEnumTraits
struct	PxEnumTraits< PxQueryFlag::Enum >
struct	PxEqual
class	PxErrorCallback
	User defined interface class. Used by the library to emit debug information. More...
struct	PxErrorCode
	Error codes. More...
struct	PxExtendedContact
	Contact point data with additional target and max impulse values. More...
struct	PxExtendedDualIndexedPropertyInfo
struct	PxExtendedIndexedPropertyInfo
struct	PxExtendedVec3
struct	PxExtensionsPropertyInfoName
class	PxExternalStorageReportCallback
	External storage report callback. More...
struct	PxFactoryCollectionPropertyInfo
struct	PxFEMClothData
	Identifies input and output buffers for PxFEMCloth. More...
struct	PxFEMClothFlag
class	PxFEMClothMaterial
	Material class to represent a set of FEM material properties. More...
class	PxFEMMaterial
	Material class to represent a set of FEM material properties. More...
struct	PxFEMParameters
	Set of parameters to control the sleeping and collision behavior of FEM based objects. More...
class	PxFEMSoftBodyMaterial
	Material class to represent a set of softbody FEM material properties. More...
struct	PxFilterData
	PxFilterData is user-definable data which gets passed into the collision filtering shader and/or callback. More...
struct	PxFilteredCollectionPropertyInfo
struct	PxFilterFlag
	Collection of flags describing the filter actions to take for a collision pair. More...
struct	PxFilterInfo
struct	PxFilterObjectFlag
struct	PxFilterObjectType
	Identifies each type of filter object. More...
struct	PxFilterOp
	Collision filtering operations. More...
class	PxFixedJoint
	A fixed joint permits no relative movement between two bodies. ie the bodies are glued together. More...
class	PxFixedSizeLookupTable
struct	PxFixedSizeLookupTablePropertyInfo
class	PxFlags
	Container for bitfield flag variables associated with a specific enum type. More...
class	PxFLIPMaterial
	Material class to represent a set of FLIP particle material properties. More...
struct	PxForceMode
	Parameter to addForce() and addTorque() calls, determines the exact operation that is carried out. More...
class	PxFoundation
	Foundation SDK singleton class. More...
class	PxFPUGuard
struct	PxFrictionType
	Enum for selecting the friction algorithm used for simulation. More...
struct	PxgDynamicsMemoryConfig
	Sizes of pre-allocated buffers use for GPU dynamics. More...
class	PxGearJoint
	A joint that connects two existing revolute joints and constrains their relative angular velocity and position with respect to each other. More...
class	PxGeometry
	A geometry object. More...
class	PxGeometryHolder
	Geometry holder class. More...
class	PxGeometryQuery
	Collection of geometry object queries (sweeps, raycasts, overlaps, ...). More...
struct	PxGeometryQueryFlag
	Geometry-level query flags. More...
struct	PxGeometryType
	A geometry type. More...
struct	PxGeomIndexPair
	Pair of indices, typically either object or triangle indices. More...
struct	PxGeomOverlapHit
	Stores results of overlap queries. More...
struct	PxGeomRaycastHit
	Stores results of raycast queries. More...
struct	PxGeomSweepHit
	Stores results of sweep queries. More...
class	PxGjkQuery
	Collection of GJK query functions (sweeps, raycasts, overlaps, ...). More...
class	PxGjkQueryExt
	Pre-made support mapping for built-in convex geometry types. More...
struct	PxGpuActorPair
	Pair correspondence used for matching array indices with body node indices. More...
struct	PxGpuBodyData
	State of a body used when interfacing with the GPU rigid body pipeline. More...
struct	PxGpuContactPair
	Contains contact information for a contact reported by the direct-GPU contact report API. See PxScene::copyContactData(). More...
class	PxGpuFixedTendonData
	PxGpuFixedTendonData. More...
struct	PxGpuMirroredPointer
	Container to hold a pair of corresponding device and host pointers. These pointers should point to GPU / CPU mirrors of the same data, but this is not enforced. More...
struct	PxGpuParticleBufferIndexPair
	A pair of particle buffer unique id and GPU particle system index. More...
class	PxGpuSpatialTendonData
	PxGpuSpatialTendonData. More...
class	PxGpuTendonAttachmentData
	PxGpuTendonAttachmentData. More...
class	PxGpuTendonJointCoefficientData
	PxGpuTendonJointCoefficientData. More...
struct	PxGreater
class	PxGroupsMask
	64-bit mask used for collision filtering. More...
struct	PxHairSystemData
	Identifies input and output buffers for PxHairSystem. More...
struct	PxHairSystemFlag
	Binary settings for hair system simulation. More...
class	PxHairSystemGeometry
	Hair system geometry class. More...
struct	PxHairSystemGeometryLL
struct	PxHash
struct	PxHash< const char * >
class	PxHashBase
class	PxHashMap
class	PxHashMapBase
class	PxHashSet
class	PxHashSetBase
class	PxHeightField
	A height field class. More...
class	PxHeightFieldDesc
	Descriptor class for #PxHeightField. More...
struct	PxHeightFieldFlag
	Enum with flag values to be used in PxHeightFieldDesc.flags. More...
struct	PxHeightFieldFormat
	Describes the format of height field samples. More...
class	PxHeightFieldGeometry
	Height field geometry class. More...
struct	PxHeightFieldGeometryLL
struct	PxHeightFieldMaterial
	Special material index values for height field samples. More...
struct	PxHeightFieldRepXSerializer
struct	PxHeightFieldSample
	Heightfield sample format. More...
struct	PxHeightFieldTessFlag
	Determines the tessellation of height field cells. More...
struct	PxHitBuffer
	Returns scene query hits (intersections) to the user in a preallocated buffer. More...
struct	PxHitCallback
	This callback class facilitates reporting scene query hits (intersections) to the user. More...
struct	PxHitFlag
	Scene query and geometry query behavior flags. More...
struct	PxHullPolygon
	Polygon data. More...
struct	PxIndexDataPair
	Maps numeric index to a data pointer. More...
struct	PxIndexedPropertyInfo
class	PxInlineAllocator
class	PxInlineArray
class	PxInputData
	Input data class for I/O which provides random read access. More...
class	PxInputStream
	Input stream class for I/O. More...
class	PxInsertionCallback
	Callback interface that permits TriangleMesh, Heightfield, ConvexMesh or BVH to be used directly without the need to store the cooking results into a stream. More...
struct	PxIntegrals
	Data structure used to store mass properties. More...
struct	PxJacobianRow
	a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects More...
class	PxJoint
	a base interface providing common functionality for PhysX joints More...
struct	PxJointActorIndex
	an enumeration for specifying one or other of the actors referenced by a joint More...
class	PxJointAngularLimitPair
struct	PxJointConcreteType
	an enumeration of PhysX' built-in joint types More...
class	PxJointLimitCone
	Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may result in jitter. More...
class	PxJointLimitParameters
	Describes the parameters for a joint limit. More...
class	PxJointLimitPyramid
	Describes a pyramidal joint limit. More...
class	PxJointLinearLimit
	Describes a one-sided linear limit. More...
class	PxJointLinearLimitPair
	Describes a two-sided limit. More...
struct	PxJointRepXSerializer
struct	PxLess
class	PxLightCpuTask
	A PxBaseTask implementation with immediate execution and simple dependencies. More...
class	PxLocalStorageReportCallback
	Local storage report callback. More...
struct	PxLocationHit
	Scene query hit information for raycasts and sweeps returning hit position and normal information. More...
class	PxLockedData
	Parent class for bulk data that is shared between the SDK and the application. More...
struct	PxLogTwo
struct	PxLogTwo< 1 >
struct	PxMassModificationProps
	Struct for specifying mass modification for a pair of rigids. More...
class	PxMassProperties
	Utility class to compute and manipulate mass and inertia tensor properties. More...
class	PxMat33
	3x3 matrix class More...
class	PxMat33Padded
	A padded version of PxMat33, to safely load its data using SIMD. More...
class	PxMat33T
	3x3 matrix class More...
class	PxMat34Padded
	A padded version of PxMat34, to safely load its data using SIMD. More...
class	PxMat34T
class	PxMat44
	4x4 matrix class More...
class	PxMat44T
	4x4 matrix class More...
class	PxMaterial
	Material class to represent a set of surface properties. More...
struct	PxMaterialFlag
	Flags which control the behavior of a material. More...
struct	PxMaterialRepXSerializer
struct	PxMeshCookingHint
	Enumeration for mesh cooking hints. More...
struct	PxMeshFlag
	Enum with flag values to be used in PxSimpleTriangleMesh::flags. More...
struct	PxMeshGeometryFlag
	Flags controlling the simulated behavior of the triangle mesh geometry. More...
struct	PxMeshMeshQueryFlag
struct	PxMeshMidPhase
	Mesh midphase structure. This enum is used to select the desired acceleration structure for midphase queries (i.e. raycasts, overlaps, sweeps vs triangle meshes). More...
class	PxMeshOverlapUtil
	Utility class to find mesh triangles touched by a specified geometry object. More...
struct	PxMeshPreprocessingFlag
	Enum for the set of mesh pre-processing parameters. More...
class	PxMeshQuery
class	PxMeshScale
	A class expressing a nonuniform scaling transformation. More...
struct	PxMetaDataEntry
	Struct to store meta data definitions. More...
struct	PxMetaDataFlag
	Flags used to configure binary meta data entries, typically set through PX_DEF_BIN_METADATA defines. More...
struct	PxMetaDataPlane
class	PxMidphaseDesc
	Structure describing parameters affecting midphase mesh structure. More...
struct	PxModifiableContact
	A modifiable contact point. This has additional fields per-contact to permit modification by user. More...
struct	PxMPMCuttingFlag
	Optional MPM modes that improve the quality of fracture and/or cutting. More...
class	PxMPMMaterial
	Material class to represent a set of MPM particle material properties. More...
struct	PxMPMMaterialModel
	MPM material models. More...
struct	PxMPMSurfaceType
	MPM surface types that influence interaction between particles and obstacles. More...
class	PxMutexImpl
class	PxMutexT
class	PxNodeIndex
	PxNodeIndex. More...
class	PxObstacle
	Base class for obstacles. More...
class	PxObstacleContext
	Context class for obstacles. More...
class	PxOmniPvd
class	PxOutputStream
	Output stream class for I/O. More...
struct	PxOverlapBufferN
	Returns touching overlap hits to the user in a fixed size array embedded in the buffer class. More...
struct	PxOverlapHit
struct	PxPadding
class	PxPair
struct	PxPairFilteringMode
struct	PxPairFlag
	Collection of flags describing the actions to take for a collision pair. More...
class	PxParticleAndDiffuseBuffer
	A particle buffer used to simulate diffuse particles. More...
class	PxParticleBuffer
	The shared base class for all particle buffers, can be instantiated directly to simulate granular and fluid particles. More...
struct	PxParticleBufferFlag
	Identifies dirty particle buffers that need to be updated in the particle system. More...
struct	PxParticleCloth
	Particle cloth structure. Holds information about a single piece of cloth that is part of a #PxParticleClothBuffer. More...
class	PxParticleClothBuffer
	A particle buffer used to simulate particle cloth. More...
struct	PxParticleClothDesc
	Structure to describe the set of particle cloths in the same #PxParticleClothBuffer. Used an input for the cloth preprocessing. More...
class	PxParticleClothPreProcessor
	Preprocessor to prepare particle cloths for simulation. More...
struct	PxParticleFlag
	Flags which control the behaviour of a particle system. More...
class	PxParticleMaterial
	Material class to represent a set of particle material properties. More...
struct	PxParticlePhaseFlag
	Identifies per-particle behavior for a PxParticleSystem. More...
struct	PxParticleRigidAttachment
	Struct to specify attachment between a particle/vertex and a rigid. More...
class	PxParticleRigidBuffer
	A particle buffer used to simulate rigid bodies using shape matching with particles. More...
struct	PxParticleRigidFilterPair
	Struct for storing a particle/vertex - rigid filter pair with comparison operators. More...
struct	PxParticleSolverType
	Identifies the solver to use for a particle system. More...
class	PxParticleSystem
	The shared base class for all particle systems. More...
class	PxParticleSystemCallback
	Particle system callback base class to schedule work that should be done before, while or after the particle system updates. A call to fetchResultsParticleSystem() on the PxScene will synchronize the work such that the caller knows that all tasks of this callback completed. More...
class	PxParticleSystemGeometry
	Particle system geometry class. More...
struct	PxParticleSystemGeometryLL
struct	PxParticleVolume
	Particle volume structure. Used to track the bounding volume of a user-specified set of particles. The particles are required to be laid out contiguously within the same PxParticleBuffer. More...
struct	PxPartitionedParticleCloth
	Structure to describe the output of the particle cloth preprocessing. Used as an input to specify cloth data for a #PxParticleClothBuffer. All the pointers point to pinned host memory. More...
class	PxPBDMaterial
	Material class to represent a set of PBD particle material properties. More...
class	PxPBDParticleSystem
	A particle system that uses the position based dynamics(PBD) solver. More...
class	PxPhysics
	Abstract singleton factory class used for instancing objects in the Physics SDK. More...
class	PxPhysXGpu
	Interface to create and run CUDA enabled PhysX features. More...
class	PxPlane
	Representation of a plane. More...
class	PxPlaneGeometry
	Class describing a plane geometry. More...
class	PxPoissonSampler
	Sampler to generate Poisson Samples locally on a triangle mesh or a shape. For every local addition of new samples, an individual sampling density can be used. More...
class	PxPool
class	PxPool2
class	PxPoolBase
class	PxPrismaticJoint
	A prismatic joint permits relative translational movement between two bodies along an axis, but no relative rotational movement. More...
struct	PxPrismaticJointFlag
	Flags specific to the prismatic joint. More...
class	PxProcessPxBaseCallback
	Callback class used to process PxBase objects. More...
class	PxProfilerCallback
	The pure virtual callback interface for general purpose instrumentation and profiling of GameWorks modules as well as applications. More...
class	PxProfileScoped
struct	PxPropertyInfo
struct	PxPropertyInfoBase
struct	PxPropertyInfoName
struct	PxPropertyInfoParameterizedBase
struct	PxPropertyToValueStructMemberMap
class	PxPruningStructure
	A precomputed pruning structure to accelerate scene queries against newly added actors. More...
struct	PxPruningStructureType
	Pruning structure used to accelerate scene queries. More...
class	PxPvd
	PxPvd is the top-level class for the PVD framework, and the main customer interface for PVD configuration.It is a singleton class, instantiated and owned by the application. More...
struct	PxPvdInstrumentationFlag
	types of instrumentation that PVD can do. More...
class	PxPvdSceneClient
	Special client for PxScene. It provides access to the PxPvdSceneFlag. It also provides simple user debug services that associated scene position such as immediate rendering and camera updates. More...
struct	PxPvdSceneFlag
	PVD scene Flags. They are disabled by default, and only works if PxPvdInstrumentationFlag::eDEBUG is set. More...
class	PxPvdTransport
	PxPvdTransport is an interface representing the data transport mechanism. This class defines all services associated with the transport: configuration, connection, reading, writing etc. It is owned by the application, and can be realized as a file or a socket (using one-line PxDefault<...> methods in PhysXExtensions) or in a custom implementation. This is a class that is intended for use by PVD, not by the application, the application entry points are PxPvd and PvdClient. More...
struct	PxPvdUpdateType
	Flags for determining how PVD should serialize a constraint update. More...
class	PxQuat
	This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers. More...
class	PxQuatT
	This is a quaternion class. For more information on quaternion mathematics consult a mathematics source on complex numbers. More...
struct	PxQueryCache
	single hit cache for scene queries. More...
class	PxQueryFilterCallback
	Scene query filtering callbacks. More...
struct	PxQueryFilterData
	Scene query filtering data. More...
struct	PxQueryFlag
	Filtering flags for scene queries. More...
struct	PxQueryHit
	collection of set bits defined in PxHitFlag. More...
struct	PxQueryHitType
	Classification of scene query hits (intersections). More...
struct	PxQueryThreadContext
	A per-thread context passed to low-level query functions. More...
class	PxRackAndPinionJoint
	A joint that connects an existing revolute joint to an existing prismatic joint, and constrains their relative angular/linear velocity and position with respect to each other. More...
struct	PxRangePropertyInfo
class	PxRawAllocator
struct	PxRaycastBufferN
	Returns touching raycast hits to the user in a fixed size array embedded in the buffer class. More...
struct	PxRaycastHit
struct	PxReadOnlyCollectionPropertyInfo
struct	PxReadOnlyFilteredCollectionPropertyInfo
struct	PxReadOnlyPropertyInfo
class	PxReadWriteLock
class	PxRefCounted
	Base class for ref-counted objects. More...
class	PxReflectionAllocator
class	PxRegularReportCallback
	Regular report callback. More...
class	PxRemeshingExt
	Provides methods to adjust the tessellation of meshes. More...
class	PxRenderBuffer
	Interface for points, lines, triangles, and text buffer. More...
class	PxRenderOutput
class	PxReportCallback
	Base class for callback reporting an unknown number of items to users. More...
struct	PxRepXInstantiationArgs
	Arguments required to instantiate a serializable object from RepX. More...
struct	PxRepXObject
	Helper class containing the mapping of id to object, and type name. More...
struct	PxRepXPropertyAccessor
struct	PxRepXPropertyAccessor< PxPropertyInfoName::PxRigidDynamic_WakeCounter, PxRigidDynamic, TSetPropType, TPropertyType >
class	PxRepXSerializer
	Serializer interface for RepX (Xml) serialization. More...
class	PxRevoluteJoint
	A joint which behaves in a similar way to a hinge or axle. More...
struct	PxRevoluteJointFlag
	Flags specific to the Revolute Joint. More...
class	PxRigidActor
	PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK. More...
class	PxRigidActorExt
	utility functions for use with PxRigidActor and subclasses More...
struct	PxRigidActorShapeCollection
struct	PxRigidActorShapeCollectionHelper
class	PxRigidBody
	PxRigidBody is a base class shared between dynamic rigid body objects. More...
class	PxRigidBodyExt
	utility functions for use with PxRigidBody and subclasses More...
struct	PxRigidBodyFlag
	Collection of flags describing the behavior of a rigid body. More...
class	PxRigidDynamic
	PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK. More...
struct	PxRigidDynamicLockFlag
	Collection of flags providing a mechanism to lock motion along/around a specific axis. More...
struct	PxRigidDynamicRepXSerializer
class	PxRigidStatic
	PxRigidStatic represents a static rigid body simulation object in the physics SDK. More...
struct	PxRigidStaticRepXSerializer
class	PxRunnable
class	PxSamplingExt
	utility functions to sample vertices on or inside a triangle mesh or other geometries More...
struct	PxsBodyCore
struct	PxsCCDBlockArray
	a container class used in the CCD that minimizes frequency of hitting the allocator. More...
struct	PxsCCDBody
	Structure to represent a body in the CCD system. More...
struct	PxsCCDContactHeader
	Additional header structure for CCD contact data stream. More...
class	PxsCCDContext
	CCD context object. More...
struct	PxsCCDOverlap
	structure to represent interactions between a given body and another body. More...
struct	PxsCCDPair
	A structure to represent a potential CCD interaction between a pair of shapes. More...
struct	PxsCCDShape
	Temporary CCD representation for a shape. More...
class	PxScene
	A scene is a collection of bodies and constraints which can interact. More...
class	PxSceneDesc
	Descriptor class for scenes. See #PxScene. More...
struct	PxSceneFlag
	flags for configuring properties of the scene More...
class	PxSceneLimits
	Class used to retrieve limits(e.g. maximum number of bodies) for a scene. The limits are used as a hint to the size of the scene, not as a hard limit (i.e. it will be possible to create more objects than specified in the scene limits). More...
class	PxSceneQueryDesc
	Descriptor class for scene query system. See #PxSceneQuerySystem. More...
class	PxSceneQueryExt
	utility functions for use with PxScene, related to scene queries. More...
class	PxSceneQuerySystem
	Scene-queries external sub-system for PxScene-based objects. More...
class	PxSceneQuerySystemBase
	Base class for the scene-query system. More...
struct	PxSceneQueryUpdateMode
	Scene query update mode. More...
class	PxSceneReadLock
	RAII wrapper for the PxScene read lock. More...
class	PxSceneSQSystem
	Traditional SQ system for PxScene. More...
class	PxSceneWriteLock
	RAII wrapper for the PxScene write lock. More...
class	PxsConstraintBlockManager
class	PxsContactManager
struct	PxsContactManagerBase
class	PxsContactManagerOutputIterator
struct	PxsContactManagers
struct	PxsContactManagerStatusFlag
class	PxsContext
class	PxScopedPointer
struct	PxsCustomMaterialData
class	PxsCustomMaterialManager
class	PxSdfBitsPerSubgridPixel
	Defines the number of bits per subgrid pixel. More...
class	PxSDFDesc
	A structure describing signed distance field for mesh. More...
class	PxSerialization
	Utility functions for serialization. More...
class	PxSerializationContext
	Binary serialization context class. More...
class	PxSerializationRegistry
	Class serving as a registry for XML (RepX) and binary serializable types. More...
class	PxSerializer
	Serialization interface class. More...
class	PxSerializerDefaultAdapter
	Default PxSerializer implementation. More...
class	PxsFEMClothMaterialManager
class	PxsFEMMaterialManager
struct	PxsFLIPMaterialData
class	PxsFLIPMaterialManager
class	PxShape
	Abstract class for collision shapes. More...
struct	PxShapeCoreFlag
class	PxShapeExt
	utility functions for use with PxShape More...
struct	PxShapeFlag
	Flags which affect the behavior of PxShapes. More...
struct	PxShapeGeomProperty
struct	PxShapeGeomPropertyHelper
struct	PxShapeMaterialsProperty
struct	PxShapeMaterialsPropertyHelper
struct	PxShapeRepXSerializer
class	PxsHeapMemoryAllocator
class	PxsHeapMemoryAllocatorManager
struct	PxsHeapStats
class	PxSIMDGuard
class	PxSimpleTriangleMesh
	A structure describing a triangle mesh. More...
class	PxSimulationEventCallback
	An interface class that the user can implement in order to receive simulation events. More...
class	PxSimulationFilterCallback
	Filter callback to specify handling of collision pairs. More...
class	PxSimulationStatistics
	Class used to retrieve statistics for a simulation step. More...
class	PxSimulationTetrahedronMeshData
	Conbines PxTetrahedronMeshData and PxSoftBodyCollisionData. More...
struct	PxsIndexedConstraint
struct	PxsIndexedContactManager
struct	PxsIndexedInteraction
	Each contact manager or constraint references two separate bodies, where a body can be a dynamic rigid body, a kinematic rigid body, an articulation or a static. The struct PxsIndexedInteraction describes the bodies that make up the pair. More...
class	PxsIslandIndices
class	PxsIslandManagerHook
class	PxsKernelWranglerManager
class	PxSListEntry
struct	PxSListImpl
class	PxSListT
struct	PxsMaterialData
struct	PxsMaterialInfo
class	PxsMaterialManager
class	PxsMaterialManagerIterator
class	PxsMaterialManagerT
class	PxsMemoryManager
struct	PxsMPMMaterialData
class	PxsMPMMaterialManager
struct	PxsNarrowPhaseSecondPassContactManager
	Any sleeping contact pair that finds itself in an awake island after 1st pass island gen must participate in 2nd pass narrowphase so that contacts can be generated. More...
class	PxsNphaseImplementationContext
class	PxSocket
class	PxSoftBody
	Represents a FEM softbody including everything to calculate its definition like geometry and material properties. More...
class	PxSoftBodyAuxData
	A data container providing mass, rest pose and other information required for softbody simulation. More...
class	PxSoftBodyCollisionData
	Stores data to accelerate collision detection of a tetrahedral mesh. More...
struct	PxSoftBodyData
	Identifies input and output buffers for PxSoftBody. More...
class	PxSoftBodyDataFlag
	These flags determine what data is read or written to the gpu softbody. More...
class	PxSoftBodyExt
	utility functions for use with PxSoftBody and subclasses More...
struct	PxSoftBodyFlag
	Flags to enable or disable special modes of a SoftBody. More...
class	PxSoftBodyMesh
	A softbody mesh, containing structures to store collision shape, simulation shape and deformation state. More...
class	PxSoftBodySimulationData
	Stores data to compute and store the state of a deformed tetrahedral mesh. More...
class	PxSoftBodySimulationDataDesc
	‍** More...
struct	PxSolverBody
	Struct that the solver uses to store velocity updates for a body. More...
struct	PxSolverBodyData
	Struct that the solver uses to store the state and other properties of a body. More...
struct	PxSolverConstraintDesc
	Constraint descriptor used inside the solver. More...
struct	PxSolverConstraintPrepDesc
	Data structure used for preparing constraints before solving them. More...
struct	PxSolverConstraintPrepDescBase
	Data structure used for preparing constraints before solving them. More...
struct	PxSolverContactDesc
	Data structure used for preparing constraints before solving them. More...
struct	PxSolverType
	Enum for selecting the type of solver used for the simulation. More...
struct	PxSparseGridParams
	Parameters to define the sparse grid settings like grid spacing, maximal number of subgrids etc. More...
struct	PxsParticleMaterialData
	Common material properties for particles. See #PxParticleMaterial. More...
struct	PxSpatialForce
	Data structure to represent spatial forces. More...
struct	PxSpatialVelocity
	Data structure to represent spatial velocities. More...
struct	PxsPBDMaterialData
class	PxsPBDMaterialManager
class	PxSphereGeometry
	A class representing the geometry of a sphere. More...
class	PxSphericalJoint
	A joint which behaves in a similar way to a ball and socket. More...
struct	PxSphericalJointFlag
	Flags specific to the spherical joint. More...
class	PxSpring
class	PxsRigidBody
struct	PxsRigidCore
struct	PxsShapeCore
struct	PxsShapeSim
class	PxsSimulationController
class	PxsSimulationControllerCallback
class	PxStack
class	PxsTransformCache
struct	PxsTransformFlag
struct	PxStridedData
class	PxStrideIterator
	Iterator class for iterating over arrays of data that may be interleaved with other data. More...
class	PxStringTable
	a table to manage strings. Strings allocated through this object are expected to be owned by this object. More...
class	PxStringTableExt
	a factory class for creating PxStringTable with a specific allocator. More...
class	PxStringTableImpl
struct	PxSweepBufferN
	Returns touching sweep hits to the user in a fixed size array embedded in the buffer class. More...
struct	PxSweepHit
class	PxSyncImpl
class	PxSyncT
class	PxTask
	A PxBaseTask implementation with deferred execution and full dependencies. More...
struct	PxTaskDepTableRow
class	PxTaskManager
	The PxTaskManager interface. More...
class	PxTaskMgr
class	PxTaskTableRow
struct	PxTaskType
	Identifies the type of each heavyweight PxTask object. More...
class	PxTempAllocator
union	PxTempAllocatorChunk
class	PxTetMaker
	Provides functionality to create a tetrahedral mesh from a triangle mesh. More...
class	PxTetrahedron
	Tetrahedron class. More...
class	PxTetrahedronMesh
	A tetramedron mesh, also called a 'tetrahedron soup'. More...
class	PxTetrahedronMeshAnalysisResult
	These flags indicate what kind of deficiencies a tetrahedron mesh has and describe if the mesh is considered ok, problematic or invalid for softbody cooking. More...
class	PxTetrahedronMeshData
	Contains raw geometry information describing the tetmesh's vertices and its elements (tetrahedra) More...
class	PxTetrahedronMeshDesc
	Descriptor class for #PxTetrahedronMesh (contains only pure geometric data). More...
class	PxTetrahedronMeshExt
	utility functions for use with PxTetrahedronMesh and subclasses More...
struct	PxTetrahedronMeshFlag
class	PxTetrahedronMeshGeometry
	Tetrahedron mesh geometry class. More...
struct	PxTetrahedronMeshGeometryLL
struct	PxTGSSolverBodyData
struct	PxTGSSolverBodyTxInertia
struct	PxTGSSolverBodyVel
struct	PxTGSSolverConstraintPrepDesc
struct	PxTGSSolverConstraintPrepDescBase
struct	PxTGSSolverContactDesc
class	PxThreadImpl
struct	PxThreadPriority
class	PxThreadT
class	PxTime
struct	PxTireContactIntersectionMethod
	Description of the per wheel intersection method to be used by PxVehicleWheelsDynData::setTireContacts() More...
class	PxTolerancesScale
	Class to define the scale at which simulation runs. Most simulation tolerances are calculated in terms of the values here. More...
class	PxTransform
	class representing a rigid euclidean transform as a quaternion and a vector More...
class	PxTransformT
	class representing a rigid euclidean transform as a quaternion and a vector More...
class	PxTriangle
	Triangle class. More...
class	PxTriangleMesh
	A triangle mesh, also called a 'polygon soup'. More...
class	PxTriangleMeshAnalysisResult
	These flags indicate what kind of deficiencies a triangle mesh has and describe if the mesh is considered ok, problematic or invalid for tetmeshing. More...
struct	PxTriangleMeshCookingResult
	Result from triangle mesh cooking. More...
class	PxTriangleMeshDesc
	Descriptor class for #PxTriangleMesh. More...
struct	PxTriangleMeshFlag
	Flags for the mesh geometry properties. More...
class	PxTriangleMeshGeometry
	Triangle mesh geometry class. More...
struct	PxTriangleMeshGeometryLL
struct	PxTriangleMeshInternalData
class	PxTriangleMeshPoissonSampler
	Sampler to generate Poisson Samples on a triangle mesh. More...
class	PxTrianglePadded
	A padded version of PxTriangle, to safely load its data using SIMD. More...
struct	PxTriggerPair
	Descriptor for a trigger pair. More...
struct	PxTriggerPairFlag
	Collection of flags providing information on trigger report pairs. More...
struct	PxTypedStridedData
struct	PxTypeInfo
	a structure containing per-type information for types inheriting from PxBase More...
struct	PxU32ToName
struct	PxUnConst
struct	PxUnConst< const T >
struct	PxUnixScopeLock
struct	PxUnknownClassInfo
class	PxUserAllocated
class	PxUserControllerHitReport
	User callback class for character controller events. More...
struct	PxvContactManagerTouchEvent
class	PxVec2
	2 Element vector class. More...
class	PxVec2T
	2 Element vector class. More...
class	PxVec3
	3 Element vector class. More...
class	PxVec3Padded
	A padded version of PxVec3, to safely load its data using SIMD. More...
class	PxVec3T
	3 Element vector class. More...
class	PxVec4
class	PxVec4T
class	PxVehicleAckermannGeometryData
class	PxVehicleAntiRollBarData
class	PxVehicleAutoBoxData
class	PxVehicleChassisData
struct	PxVehicleClutchAccuracyMode
	Choose between a potentially more expensive but more accurate solution to the clutch model or a potentially cheaper but less accurate solution. More...
class	PxVehicleClutchData
struct	PxVehicleConcreteType
	An enumeration of concrete vehicle classes inheriting from PxBase. More...
struct	PxVehicleConcurrentUpdateData
	Structure containing data that is computed for a vehicle and its wheels during concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which cannot be safely concurrently applied. More...
class	PxVehicleConstraintShader
class	PxVehicleContext
	Common parameters and settings used for the vehicle simulation. More...
class	PxVehicleCopyDynamicsMap
	Used by PxVehicleCopyDynamicsData. More...
class	PxVehicleDifferential4WData
class	PxVehicleDifferentialNWData
class	PxVehicleDrivableSurfaceToTireFrictionPairs
	Friction for each combination of driving surface type and tire type. More...
struct	PxVehicleDrivableSurfaceType
	Driving surface type. Each PxMaterial is associated with a corresponding PxVehicleDrivableSurfaceType. More...
class	PxVehicleDrive
	A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox. More...
class	PxVehicleDrive4W
	Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels and up to 16 non-driven wheels. More...
struct	PxVehicleDrive4WControl
	The control inputs for a PxVehicleDrive4W. More...
class	PxVehicleDrive4WRawInputData
	Used to produce smooth vehicle driving control values from analog and digital inputs. More...
struct	PxVehicleDrive4WWheelOrder
	The ordering of the driven and steered wheels of a PxVehicleDrive4W. More...
class	PxVehicleDriveDynData
	Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox. More...
class	PxVehicleDriveNW
	Data structure with instanced dynamics data and configuration data of a vehicle with up to PX_MAX_NB_WHEELS driven wheels. More...
struct	PxVehicleDriveNWControl
	The control inputs for a PxVehicleDriveNW. More...
class	PxVehicleDriveNWRawInputData
	Used to produce smooth vehicle driving control values from analog and digital inputs. More...
class	PxVehicleDriveSimData
	Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box. More...
class	PxVehicleDriveSimData4W
	Data structure describing the drive model components of a vehicle with up to 4 driven wheels and up to 16 un-driven wheels. The drive model incorporates engine, clutch, gears, autobox, differential, and Ackermann steer correction. More...
class	PxVehicleDriveSimDataNW
	Data structure describing configuration data of a vehicle with up to PX_MAX_NB_WHEELS driven equally through the differential. The vehicle has an engine, clutch, gears, autobox, differential. More...
class	PxVehicleDriveTank
	Data structure with instanced dynamics data and configuration data of a tank. More...
struct	PxVehicleDriveTankControl
	The control inputs for a PxVehicleDriveTank. More...
struct	PxVehicleDriveTankControlModel
	Two driving models are supported. More...
class	PxVehicleDriveTankRawInputData
	Used to produce smooth analog tank control values from analog and digital inputs. More...
struct	PxVehicleDriveTankWheelOrder
	The ordering of the wheels of a PxVehicleDriveTank. More...
class	PxVehicleEngineData
class	PxVehicleGearsData
struct	PxVehicleKeySmoothingData
	Used to produce smooth vehicle driving control values from key inputs. More...
class	PxVehicleNoDrive
	Data structure with instanced dynamics data and configuration data of a vehicle with no drive model. More...
struct	PxVehiclePadSmoothingData
	Used to produce smooth analog vehicle control values from analog inputs. More...
struct	PxVehiclePropertyInfoName
struct	PxVehicleRepXSerializer
struct	PxVehicleSteerFilter
	Used to produce smooth steering values in the presence of discontinuities when a vehicle e.g. lands on the ground. Use a zero sharpness value to disable the feature (backward compatibility with previous PhysX versions). More...
class	PxVehicleSuspensionData
class	PxVehicleTireData
class	PxVehicleTireForceCalculator
	Structure containing shader data for each tire of a vehicle and a shader function that computes individual tire forces. More...
class	PxVehicleTireForceCalculator4
class	PxVehicleTireLoadFilterData
	Tire load variation can be strongly dependent on the time-step so it is a good idea to filter it to give less jerky handling behavior. More...
struct	PxVehicleTypes
class	PxVehicleUpdate
struct	PxVehicleUpdateMode
struct	PxVehicleWheelConcurrentUpdateData
	Structure containing data that is computed for a wheel during concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which cannot be safely concurrently applied. More...
class	PxVehicleWheelData
struct	PxVehicleWheelQueryResult
class	PxVehicleWheels
	Data structure with instanced dynamics data and configuration data of a vehicle with just wheels. More...
class	PxVehicleWheels4DynData
class	PxVehicleWheels4SimData
class	PxVehicleWheelsDynData
	Data structure with instanced dynamics data for wheels. More...
class	PxVehicleWheelsSimData
	Data structure describing configuration data of a vehicle with up to 20 wheels. More...
struct	PxVehicleWheelsSimFlag
	Flags to configure the vehicle wheel simulation. More...
class	PxVirtualAllocator
class	PxVirtualAllocatorCallback
struct	PxVisualizationParameter
	Debug visualization parameters. More...
struct	PxvManagerDescRigidRigid
class	PxvNphaseImplementationContext
class	PxvNphaseImplementationContextUsableAsFallback
class	PxvNphaseImplementationFallback
struct	PxvOffsetTable
struct	PxvSimStats
struct	PxWheelQueryResult
	Structure containing data describing the non-persistent state of each suspension/wheel/tire unit. This structure is filled out in PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData. More...
struct	PxWriteOnlyPropertyInfo
class	QuickHullConvexHullLib
class	RaycastCCDManager
	Raycast-CCD manager. More...
class	RaycastCCDManagerInternal
class	ReadWriteLockImpl
struct	RefitCallback
struct	RepXPropertyFilter
struct	RepXSerializerImpl
struct	RTreeCooker
struct	RTreeNodeNQ
class	RTreeTriangleMeshBuilder
class	SceneQueries
class	ShapePoissonSampler
struct	SimulationStatisticsProperty
struct	SMemPoolNode
class	SocketImpl
struct	SortBoundsPredicate
struct	SortedTriangle
struct	SubSortQuick
struct	SubSortSAH
struct	SVariableMemPoolNode
struct	TetrahedronFinderCallback
class	TetrahedronMeshBuilder
struct	TriangleHash
class	TriangleMeshBuilder
class	TriangleMeshPoissonSampler
class	VectorN
class	VehicleSurfaceTypeHashTable
struct	XmlDefaultValue
struct	XmlDefaultValue< PxQuat >
struct	XmlDefaultValue< PxTransform >
struct	XmlDefaultValue< PxVec3 >
class	XmlMemoryAllocator
struct	XmlMemoryAllocatorImpl
class	XmlReader
class	XmlReaderWriter
class	XmlWriter

Typedefs
typedef PxFlags< PxControllerCollisionFlag::Enum, PxU8 >	PxControllerCollisionFlags
	Bitfield that contains a set of raised flags defined in PxControllerCollisionFlag.
typedef PxFlags< PxControllerBehaviorFlag::Enum, PxU8 >	PxControllerBehaviorFlags
	Bitfield that contains a set of raised flags defined in PxControllerBehaviorFlag.
typedef PxFlags< PxControllerDebugRenderFlag::Enum, PxU32 >	PxControllerDebugRenderFlags
	Bitfield that contains a set of raised flags defined in PxControllerDebugRenderFlag.
typedef PxU32	PxObstacleHandle
typedef double	PxExtended
typedef PxU16	PxType
typedef PxFlags< PxBaseFlag::Enum, PxU16 >	PxBaseFlags
typedef PxInsertionCallback	PxPhysicsInsertionCallback
typedef PxU32	PxTriangleID
typedef PxU16	PxMaterialTableIndex
typedef PxU16	PxFEMMaterialTableIndex
typedef PxU64	PxSerialObjectId
	ID type for PxBase objects in a PxCollection.
typedef PX_DEPRECATED void(*	PxBinaryMetaDataCallback) (PxOutputStream &stream)
	Callback type for exporting binary meta data for a serializable type.
typedef PX_DEPRECATED PxBVHDesc	PxBVHStructureDesc
typedef PxFlags< PxConvexFlag::Enum, PxU16 >	PxConvexFlags
	collection of set bits defined in PxConvexFlag.
typedef PxFlags< PxMeshPreprocessingFlag::Enum, PxU32 >	PxMeshPreprocessingFlags
typedef PxFlags< PxD6JointDriveFlag::Enum, PxU32 >	PxD6JointDriveFlags
typedef PxFlags< PxDistanceJointFlag::Enum, PxU16 >	PxDistanceJointFlags
typedef PxFlags< PxPrismaticJointFlag::Enum, PxU16 >	PxPrismaticJointFlags
typedef PxFlags< PxRevoluteJointFlag::Enum, PxU16 >	PxRevoluteJointFlags
typedef PxQueryHit	PxSceneQueryHit
typedef PxQueryFilterData	PxSceneQueryFilterData
typedef PxQueryFilterCallback	PxSceneQueryFilterCallback
typedef PxQueryCache	PxSceneQueryCache
typedef PxHitFlag	PxSceneQueryFlag
typedef PxHitFlags	PxSceneQueryFlags
typedef PxFlags< PxSphericalJointFlag::Enum, PxU16 >	PxSphericalJointFlags
typedef PxFlags< PxTetrahedronMeshAnalysisResult::Enum, PxU32 >	PxTetrahedronMeshAnalysisResults
typedef PxFlags< PxTriangleMeshAnalysisResult::Enum, PxU32 >	PxTriangleMeshAnalysisResults
typedef uint32_t	PxU32
typedef PxVec2T< float >	PxVec2
typedef PxVec3T< float >	PxVec3
typedef PxVec4T< float >	PxVec4
typedef PxQuatT< float >	PxQuat
typedef PxMat33T< float >	PxMat33
typedef PxMat34T< float >	PxMat34
typedef PxMat44T< float >	PxMat44
typedef PxTransformT< float >	PxTransform
typedef PxBitAndDataT< PxU8, 0x80 >	PxBitAndByte
typedef PxBitAndDataT< PxU16, 0x8000 >	PxBitAndWord
typedef PxBitAndDataT< PxU32, 0x80000000 >	PxBitAndDword
typedef PxBitMapBase< PxAllocator >	PxBitMap
typedef PxBitMapBase< PxVirtualAllocator >	PxBitMapPinned
typedef PxMat33T< double >	PxMat33d
typedef PxMat34T< double >	PxMat34d
typedef PxMat44T< double >	PxMat44d
typedef PxMutexT	PxMutex
template<class T >
using	PxPinnedArray = PxArray< T, PxVirtualAllocator >
typedef PxArray< PxBounds3, PxVirtualAllocator >	PxBoundsArrayPinned
typedef PxArray< PxReal, PxVirtualAllocator >	PxFloatArrayPinned
typedef PxArray< PxU32, PxVirtualAllocator >	PxInt32ArrayPinned
typedef PxArray< PxU8, PxVirtualAllocator >	PxInt8ArrayPinned
typedef PxQuatT< double >	PxQuatd
typedef int64_t	PxI64
typedef uint64_t	PxU64
typedef int32_t	PxI32
typedef int16_t	PxI16
typedef uint16_t	PxU16
typedef int8_t	PxI8
typedef uint8_t	PxU8
typedef float	PxF32
typedef double	PxF64
typedef float	PxReal
typedef PxI32	PxIntBool
typedef PxSListT	PxSList
typedef PxSyncT	PxSync
typedef PxThreadT	PxThread
typedef PxTransformT< double >	PxTransformd
typedef PxTransformPadded	PxTransform32
typedef PxVec2T< double >	PxVec2d
typedef PxVec3T< double >	PxVec3d
typedef PxVec3Padded	PxVec3p
typedef PxVec4T< double >	PxVec4d
typedef PxFlags< PxConvexMeshGeometryFlag::Enum, PxU8 >	PxConvexMeshGeometryFlags
	collection of set bits defined in PxConvexMeshGeometryFlag.
typedef PxQueryThreadContext	PxRaycastThreadContext
	A per-thread context passed to low-level raycast functions.
typedef PxQueryThreadContext	PxOverlapThreadContext
	A per-thread context passed to low-level overlap functions.
typedef PxQueryThreadContext	PxSweepThreadContext
	A per-thread context passed to low-level sweep functions.
typedef PxFlags< PxHeightFieldFlag::Enum, PxU16 >	PxHeightFieldFlags
	collection of set bits defined in PxHeightFieldFlag.
typedef PxFlags< PxMeshFlag::Enum, PxU16 >	PxMeshFlags
	collection of set bits defined in PxMeshFlag.
typedef PxFlags< PxTetrahedronMeshFlag::Enum, PxU8 >	PxTetrahedronMeshFlags
	collection of set bits defined in PxTetrahedronMeshFlag.
typedef PxFlags< PxTriangleMeshFlag::Enum, PxU8 >	PxTriangleMeshFlags
	collection of set bits defined in PxTriangleMeshFlag.
typedef PxFlags< PxMeshGeometryFlag::Enum, PxU8 >	PxMeshGeometryFlags
	collection of set bits defined in PxMeshGeometryFlag.
typedef PxFlags< PxPvdInstrumentationFlag::Enum, uint8_t >	PxPvdInstrumentationFlags
	Bitfield that contains a set of raised flags defined in PxPvdInstrumentationFlag.
typedef PxFlags< PxPvdSceneFlag::Enum, PxU8 >	PxPvdSceneFlags
	Bitfield that contains a set of raised flags defined in PxPvdSceneFlag.
typedef PxU8	PxDominanceGroup
	Group index which allows to specify 1- or 2-way interaction.
typedef PxFlags< PxActorFlag::Enum, PxU8 >	PxActorFlags
	collection of set bits defined in PxActorFlag.
typedef PxFlags< PxActorCacheFlag::Enum, PxU16 >	PxActorCacheFlags
	Collection of set bits defined in PxActorCacheFlag.
typedef PxU32	PxAggregateFilterHint
typedef PxFlags< PxArticulationCacheFlag::Enum, PxU32 >	PxArticulationCacheFlags
typedef physx::PxFlags< PxArticulationSensorFlag::Enum, PxU8 >	PxArticulationSensorFlags
typedef physx::PxFlags< PxArticulationKinematicFlag::Enum, PxU8 >	PxArticulationKinematicFlags
typedef PxU32	PxBpIndex
	Broadphase index. Indexes bounds, groups and distance arrays.
typedef PxU32	PxBpFilterGroup
	Broadphase filter group.
typedef PxU8	PxClientID
	An ID to identify different clients for multiclient support.
typedef PxFlags< PxConstraintFlag::Enum, PxU16 >	PxConstraintFlags
	constraint flags
typedef PxFlags< Px1DConstraintFlag::Type, PxU16 >	Px1DConstraintFlags
typedef PxU32(*	PxConstraintSolverPrep) (Px1DConstraint *constraints, PxVec3p &bodyAWorldOffset, PxU32 maxConstraints, PxConstraintInvMassScale &invMassScale, const void *constantBlock, const PxTransform &bodyAToWorld, const PxTransform &bodyBToWorld, bool useExtendedLimits, PxVec3p &cAtW, PxVec3p &cBtW)
	Solver constraint generation shader.
typedef PX_DEPRECATED void(*	PxConstraintProject) (const void *constantBlock, PxTransform &bodyAToWorld, PxTransform &bodyBToWorld, bool projectToA)
	Solver constraint projection shader.
typedef void(*	PxConstraintVisualize) (PxConstraintVisualizer &visualizer, const void *constantBlock, const PxTransform &body0Transform, const PxTransform &body1Transform, PxU32 flags)
	Solver constraint visualization function.
typedef PxFlags< PxDeletionEventFlag::Enum, PxU8 >	PxDeletionEventFlags
	Collection of set bits defined in PxDeletionEventFlag.
typedef PxFlags< PxFEMClothData::Enum, PxU32 >	PxFEMClothDataFlags
typedef PxFlags< PxFEMClothFlag::Enum, PxU32 >	PxFEMClothFlags
typedef PxFlags< PxPairFlag::Enum, PxU16 >	PxPairFlags
	Bitfield that contains a set of raised flags defined in PxPairFlag.
typedef PxFlags< PxFilterFlag::Enum, PxU16 >	PxFilterFlags
	Bitfield that contains a set of raised flags defined in PxFilterFlag.
typedef PxU32	PxFilterObjectAttributes
	Structure which gets passed into the collision filtering shader and/or callback providing additional information on objects of a collision pair.
typedef PxFilterFlags(*	PxSimulationFilterShader) (PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags &pairFlags, const void *constantBlock, PxU32 constantBlockSize)
	Filter method to specify how a pair of potentially colliding objects should be processed.
typedef PxFlags< PxHairSystemData::Enum, PxU32 >	PxHairSystemDataFlags
typedef PxFlags< PxHairSystemFlag::Enum, PxU32 >	PxHairSystemFlags
typedef PxFlags< PxDataAccessFlag::Enum, PxU8 >	PxDataAccessFlags
	collection of set bits defined in PxDataAccessFlag.
typedef PxFlags< PxMaterialFlag::Enum, PxU16 >	PxMaterialFlags
	collection of set bits defined in PxMaterialFlag.
typedef PxFlags< PxMPMCuttingFlag::Enum, PxU16 >	PxMPMCuttingFlags
typedef PxFlags< PxParticleFlag::Enum, PxU32 >	PxParticleFlags
typedef PxFlags< PxParticleBufferFlag::Enum, PxU32 >	PxParticleBufferFlags
typedef PxFlags< PxParticlePhaseFlag::Enum, PxU32 >	PxParticlePhaseFlags
typedef PX_DEPRECATED PxBVH	PxBVHStructure
typedef PxFlags< PxQueryFlag::Enum, PxU16 >	PxQueryFlags
	Flags typedef for the set of bits defined in PxQueryFlag.
typedef bool	PxAgain
	Describes query behavior after returning a partial query result via a callback.
typedef PxHitCallback< PxRaycastHit >	PxRaycastCallback
	Raycast query callback.
typedef PxHitCallback< PxOverlapHit >	PxOverlapCallback
	Overlap query callback.
typedef PxHitCallback< PxSweepHit >	PxSweepCallback
	Sweep query callback.
typedef PxHitBuffer< PxRaycastHit >	PxRaycastBuffer
	Raycast query buffer.
typedef PxHitBuffer< PxOverlapHit >	PxOverlapBuffer
	Overlap query buffer.
typedef PxHitBuffer< PxSweepHit >	PxSweepBuffer
	Sweep query buffer.
typedef PxFlags< PxRigidBodyFlag::Enum, PxU16 >	PxRigidBodyFlags
	collection of set bits defined in PxRigidBodyFlag.
typedef PxFlags< PxRigidDynamicLockFlag::Enum, PxU8 >	PxRigidDynamicLockFlags
typedef PxFlags< PxActorTypeFlag::Enum, PxU16 >	PxActorTypeFlags
	Collection of set bits defined in PxActorTypeFlag.
typedef PxFlags< PxSceneFlag::Enum, PxU32 >	PxSceneFlags
	collection of set bits defined in PxSceneFlag.
typedef PxU32	PxSQCompoundHandle
typedef PxU32	PxSQPrunerHandle
typedef void *	PxSQBuildStepHandle
typedef PxFlags< PxShapeFlag::Enum, PxU8 >	PxShapeFlags
	collection of set bits defined in PxShapeFlag.
typedef PxFlags< PxContactPairHeaderFlag::Enum, PxU16 >	PxContactPairHeaderFlags
	Bitfield that contains a set of raised flags defined in PxContactPairHeaderFlag.
typedef PxFlags< PxContactPairFlag::Enum, PxU16 >	PxContactPairFlags
	Bitfield that contains a set of raised flags defined in PxContactPairFlag.
typedef PxFlags< PxTriggerPairFlag::Enum, PxU8 >	PxTriggerPairFlags
	Bitfield that contains a set of raised flags defined in PxTriggerPairFlag.
typedef PxFlags< PxSoftBodyData::Enum, PxU32 >	PxSoftBodyDataFlags
typedef PxFlags< PxSoftBodyFlag::Enum, PxU32 >	PxSoftBodyFlags
typedef PxFlags< PxArticulationMotion::Enum, PxU8 >	PxArticulationMotions
typedef PxFlags< PxArticulationFlag::Enum, PxU8 >	PxArticulationFlags
typedef unsigned int	PxTaskID
typedef PxFlags< PxVehicleWheelsSimFlag::Enum, PxU32 >	PxVehicleWheelsSimFlags
	Collection of set bits defined in #PxVehicleWheelsSimFlag.
typedef BOOL(WINAPI *	LPFN_GLPI) (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD)
typedef MaterialCoreT< PxsFEMClothMaterialData, PxFEMClothMaterial >	PxsFEMClothMaterialCore
typedef MaterialCoreT< PxsFEMSoftBodyMaterialData, PxFEMSoftBodyMaterial >	PxsFEMSoftBodyMaterialCore
typedef MaterialCoreT< PxsFLIPMaterialData, PxFLIPMaterial >	PxsFLIPMaterialCore
typedef MaterialCoreT< PxsMaterialData, PxMaterial >	PxsMaterialCore
typedef MaterialCoreT< PxsMPMMaterialData, PxMPMMaterial >	PxsMPMMaterialCore
typedef MaterialCoreT< PxsPBDMaterialData, PxPBDMaterial >	PxsPBDMaterialCore
typedef MaterialCoreT< PxsCustomMaterialData, PxCustomMaterial >	PxsCustomMaterialCore
typedef PxFlags< PxShapeCoreFlag::Enum, PxU8 >	PxShapeCoreFlags
typedef bool(*	PxcContactMethod) (GU_CONTACT_METHOD_ARGS)
typedef void(*	PxcGetMaterialMethod) (MATERIAL_METHOD_ARGS)
typedef void(*	PxcGetSingleMaterialMethod) (SINGLE_MATERIAL_METHOD_ARGS)
typedef PxArray< PxcNpMemBlock * >	PxcNpMemBlockArray
typedef PxsCCDBlockArray< PxsCCDBody, 128 >	PxsCCDBodyArray
	Block array of CCD bodies.
typedef PxsCCDBlockArray< PxsCCDPair, 128 >	PxsCCDPairArray
	Block array of CCD pairs.
typedef PxsCCDBlockArray< PxsCCDOverlap, 128 >	PxsCCDOverlapArray
	Block array of CCD overlaps.
typedef PxsCCDBlockArray< PxsCCDShape, 128 >	PxsCCDShapeArray
	Block array of CCD shapes.
typedef PxPair< const PxsRigidCore *, const PxsShapeCore * >	PxsRigidShapePair
	Pair structure to be able to look-up a rigid body-shape pair in a map.
typedef PxU32	NodeType
typedef PxU32	EdgeType
typedef PxU32	IslandType
typedef PxsIslandManagerHook< NodeType, INVALID_NODE >	PxsIslandManagerNodeHook
typedef PxsIslandManagerHook< EdgeType, INVALID_EDGE >	PxsIslandManagerEdgeHook
typedef PxsIslandManagerHook< IslandType, INVALID_ISLAND >	PxsIslandManagerIslandHook
typedef PxU64	PxsNodeType
typedef struct physx::NvPhysXToDrv_Header_	NvPhysXToDrv_Header
typedef struct physx::NvPhysXToDrv_Data_V1_	NvPhysXToDrv_Data_V1
typedef NpRigidBodyTemplate< PxArticulationLink >	NpArticulationLinkT
typedef PxU32	ArticulationSensorHandle
typedef PxU32	ArticulationAttachmentHandle
typedef PxU32	ArticulationTendonHandle
typedef NpRigidBodyTemplate< PxRigidDynamic >	NpRigidDynamicT
typedef NpRigidActorTemplate< PxRigidStatic >	NpRigidStaticT
typedef PxSQCompoundHandle	NpCompoundId
typedef Gu::Box	PxExtendedBox
typedef Gu::Sphere	PxExtendedSphere
typedef Gu::Segment	PxExtendedSegment
typedef Gu::Capsule	PxExtendedCapsule
typedef PxBounds3	PxExtendedBounds3
typedef PxReadOnlyPropertyInfo< PxPropertyInfoName::PxArticulationLink_InboundJoint, PxArticulationLink, PxArticulationJointReducedCoordinate * >	TIncomingJointPropType
typedef PxU32	TMemAllocSizeType
typedef bool	_Bool
typedef PxPropertyInfo< PxPropertyInfoName::PxRigidActor_GlobalPose, PxRigidActor, const PxTransform &, PxTransform >	PxRigidActorGlobalPosePropertyInfo
typedef PxSQPrunerHandle	ScPrunerHandle
typedef PxHashMap< const char *, PxTaskID >	PxTaskNameToIDMap
typedef PxArray< PxTaskDepTableRow >	PxTaskDepTable
typedef PxArray< PxTaskTableRow >	PxTaskTable

Enumerations
enum	PxEMPTY { PxEmpty , PxEmpty }
enum	PxZERO { PxZero , PxZero }
enum	PxIDENTITY { PxIdentity , PxIdentity }
enum	PxScenePrunerIndex { PX_SCENE_PRUNER_STATIC = 0 , PX_SCENE_PRUNER_DYNAMIC = 1 , PX_SCENE_COMPOUND_PRUNER = 0xffffffff }
	Built-in enum for default PxScene pruners. More...
enum	CubeIndex {   CUBE_RIGHT , CUBE_LEFT , CUBE_TOP , CUBE_BOTTOM ,   CUBE_FRONT , CUBE_BACK , CUBE_FORCE_DWORD = 0x7fffffff }
enum	PxvErrorCode {   PXD_ERROR_NO_ERROR = 0 , PXD_ERROR_INVALID_PARAMETER , PXD_ERROR_INVALID_PARAMETER_SIZE , PXD_ERROR_INTERNAL_ERROR ,   PXD_ERROR_NOT_IMPLEMENTED , PXD_ERROR_NO_CONTEXT , PXD_ERROR_NO_TASK_MANAGER , PXD_ERROR_WARNING }
enum	PxvContactManagerCCDMode { PXD_MANAGER_CCD_NONE , PXD_MANAGER_CCD_LINEAR }
enum	PxsTouchEventCount { PXS_LOST_TOUCH_COUNT , PXS_NEW_TOUCH_COUNT , PXS_CCD_RETOUCH_COUNT , PXS_TOUCH_EVENT_COUNT }
enum	SolverConstraintType {   DY_SC_TYPE_NONE = 0 , DY_SC_TYPE_RB_CONTACT , DY_SC_TYPE_RB_1D , DY_SC_TYPE_EXT_CONTACT ,   DY_SC_TYPE_EXT_1D , DY_SC_TYPE_STATIC_CONTACT , DY_SC_TYPE_NOFRICTION_RB_CONTACT , DY_SC_TYPE_BLOCK_RB_CONTACT ,   DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT , DY_SC_TYPE_BLOCK_1D , DY_SC_TYPE_FRICTION , DY_SC_TYPE_STATIC_FRICTION ,   DY_SC_TYPE_EXT_FRICTION , DY_SC_TYPE_BLOCK_FRICTION , DY_SC_TYPE_BLOCK_STATIC_FRICTION , DY_SC_CONSTRAINT_TYPE_COUNT }
enum	SolverConstraintFlags {   DY_SC_FLAG_OUTPUT_FORCE = (1<<1) , DY_SC_FLAG_KEEP_BIAS = (1<<2) , DY_SC_FLAG_ROT_EQ = (1<<3) , DY_SC_FLAG_ORTHO_TARGET = (1<<4) ,   DY_SC_FLAG_SPRING = (1<<5) , DY_SC_FLAG_INEQUALITY = (1<<6) }
enum	{   TIMER_ADMIN =0 , TIMER_GRAPHS , TIMER_COMPONENTS_UPDATE , TIMER_WHEELS ,   TIMER_INTERNAL_DYNAMICS_SOLVER , TIMER_POSTUPDATE1 , TIMER_POSTUPDATE2 , TIMER_POSTUPDATE3 ,   TIMER_ALL , TIMER_RAYCASTS , TIMER_SWEEPS , MAX_NB_TIMERS }
enum	PxEMPTY { PxEmpty , PxEmpty }
enum	PxZERO { PxZero , PxZero }
enum	PxIDENTITY { PxIdentity , PxIdentity }

Functions
PX_FORCE_INLINE PxVec3	toVec3 (const PxExtendedVec3 &v)
PX_FORCE_INLINE PxRenderOutput &	operator<< (PxRenderOutput &out, const PxDebugBox &box)
PX_FORCE_INLINE void	normalToTangents (const PxVec3 &normal, PxVec3 &tangent0, PxVec3 &tangent1)
PX_FORCE_INLINE PxRenderOutput &	operator<< (PxRenderOutput &out, const PxDebugArrow &arrow)
PX_FORCE_INLINE PxRenderOutput &	operator<< (PxRenderOutput &out, const PxDebugBasis &basis)
PX_FORCE_INLINE PxRenderOutput &	operator<< (PxRenderOutput &out, const PxDebugCircle &circle)
PX_FORCE_INLINE PxRenderOutput &	operator<< (PxRenderOutput &out, const PxDebugArc &arc)
PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV	PxSetPhysXDelayLoadHook (const physx::PxDelayLoadHook *hook)
	Sets delay load hook instance for PhysX dll.
PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV	PxSetPhysXCookingDelayLoadHook (const physx::PxDelayLoadHook *hook)
	Sets delay load hook instance for PhysXCooking dll.
PX_C_EXPORT PX_PHYSX_COMMON_API void PX_CALL_CONV	PxSetPhysXCommonDelayLoadHook (const physx::PxDelayLoadHook *hook)
	Sets delay load hook instance for PhysXCommon dll.
PxContactJoint *	PxContactJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a distance Joint.
PxU32	PxFindFaceIndex (const PxConvexMeshGeometry &convexGeom, const PxTransform &geomPose, const PxVec3 &impactPos, const PxVec3 &unitDir)
	Computes closest polygon of the convex hull geometry for a given impact point and impact direction. When doing sweeps against a scene, one might want to delay the rather expensive computation of the hit face index for convexes until it is clear the information is really needed and then use this method to get the corresponding face index.
PxCustomSceneQuerySystem *	PxCreateCustomSceneQuerySystem (PxSceneQueryUpdateMode::Enum sceneQueryUpdateMode, PxU64 contextID, const PxCustomSceneQuerySystemAdapter &adapter, bool usesTreeOfPruners=false)
	Creates a custom scene query system.
PxD6Joint *	PxD6JointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a D6 joint.
PxJoint *	PxD6JointCreate_Fixed (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, bool useD6)
	Helper function to create a fixed joint, using either a PxD6Joint or PxFixedJoint.
PxJoint *	PxD6JointCreate_Distance (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, float maxDist, bool useD6)
	Helper function to create a distance joint, using either a PxD6Joint or PxDistanceJoint.
PxJoint *	PxD6JointCreate_Prismatic (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit, float maxLimit, bool useD6)
	Helper function to create a prismatic joint, using either a PxD6Joint or PxPrismaticJoint.
PxJoint *	PxD6JointCreate_Revolute (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit, float maxLimit, bool useD6)
	Helper function to create a revolute joint, using either a PxD6Joint or PxRevoluteJoint.
PxJoint *	PxD6JointCreate_Spherical (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float limit1, float limit2, bool useD6)
	Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
PxJoint *	PxD6JointCreate_GenericCone (float &apiroty, float &apirotz, PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, float minLimit1, float maxLimit1, float minLimit2, float maxLimit2, bool useD6)
	Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
PxJoint *	PxD6JointCreate_Pyramid (PxPhysics &physics, PxRigidActor *actor0, const PxVec3 &localPos0, PxRigidActor *actor1, const PxVec3 &localPos1, const PxVec3 &axis, float minLimit1, float maxLimit1, float minLimit2, float maxLimit2)
	Helper function to create a D6 joint with pyramidal swing limits.
PX_FORCE_INLINE void *	platformAlignedAlloc (size_t size)
PX_FORCE_INLINE void	platformAlignedFree (void *ptr)
PxDefaultCpuDispatcher *	PxDefaultCpuDispatcherCreate (PxU32 numThreads, PxU32 *affinityMasks=NULL, PxDefaultCpuDispatcherWaitForWorkMode::Enum mode=PxDefaultCpuDispatcherWaitForWorkMode::eWAIT_FOR_WORK, PxU32 yieldProcessorCount=0)
	Create default dispatcher, extensions SDK needs to be initialized first.
PxFilterFlags	PxDefaultSimulationFilterShader (PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags &pairFlags, const void *constantBlock, PxU32 constantBlockSize)
	Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.
bool	PxGetGroupCollisionFlag (const PxU16 group1, const PxU16 group2)
	Determines if collision detection is performed between a pair of groups.
void	PxSetGroupCollisionFlag (const PxU16 group1, const PxU16 group2, const bool enable)
	Specifies if collision should be performed by a pair of groups.
PxU16	PxGetGroup (const PxActor &actor)
	Retrieves the value set with PxSetGroup()
void	PxSetGroup (PxActor &actor, const PxU16 collisionGroup)
	Sets which collision group this actor is part of.
void	PxGetFilterOps (PxFilterOp::Enum &op0, PxFilterOp::Enum &op1, PxFilterOp::Enum &op2)
	Retrieves filtering operation. See comments for PxGroupsMask.
void	PxSetFilterOps (const PxFilterOp::Enum &op0, const PxFilterOp::Enum &op1, const PxFilterOp::Enum &op2)
	Setups filtering operations. See comments for PxGroupsMask.
bool	PxGetFilterBool ()
	Retrieves filtering's boolean value. See comments for PxGroupsMask.
void	PxSetFilterBool (const bool enable)
	Setups filtering's boolean value. See comments for PxGroupsMask.
void	PxGetFilterConstants (PxGroupsMask &c0, PxGroupsMask &c1)
	Gets filtering constant K0 and K1. See comments for PxGroupsMask.
void	PxSetFilterConstants (const PxGroupsMask &c0, const PxGroupsMask &c1)
	Setups filtering's K0 and K1 value. See comments for PxGroupsMask.
PxGroupsMask	PxGetGroupsMask (const PxActor &actor)
	Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
void	PxSetGroupsMask (PxActor &actor, const PxGroupsMask &mask)
	Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.
PxDistanceJoint *	PxDistanceJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a distance Joint.
PxFixedJoint *	PxFixedJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a fixed joint.
PxGearJoint *	PxGearJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a gear Joint.
ExtGpu::PxParticleClothCooker *	PxCreateParticleClothCooker (PxU32 vertexCount, physx::PxVec4 *inVertices, PxU32 triangleIndexCount, PxU32 *inTriangleIndices, PxU32 constraintTypeFlags=ExtGpu::PxParticleClothConstraint::eTYPE_ALL, PxVec3 verticalDirection=PxVec3(0.0f, 1.0f, 0.0f), PxReal bendingConstraintMaxAngle=20.0f/360.0f *PxTwoPi)
	Creates a PxParticleClothCooker.
PxPrismaticJoint *	PxPrismaticJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a prismatic joint.
PxRackAndPinionJoint *	PxRackAndPinionJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a rack & pinion Joint.
PxRevoluteJoint *	PxRevoluteJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a revolute joint.
PxPoissonSampler *	PxCreateShapeSampler (const PxGeometry &geometry, const PxTransform &transform, const PxBounds3 &worldBounds, PxReal initialSamplingRadius, PxI32 numSampleAttemptsAroundPoint=30)
PxTriangleMeshPoissonSampler *	PxCreateTriangleMeshSampler (const PxU32 *triangles, PxU32 numTriangles, const PxVec3 *vertices, PxU32 numVertices, PxReal initialSamplingRadius, PxI32 numSampleAttemptsAroundPoint=30)
PxBatchQueryExt *	PxCreateBatchQueryExt (const PxScene &scene, PxQueryFilterCallback *queryFilterCallback, const PxU32 maxNbRaycasts, const PxU32 maxNbRaycastTouches, const PxU32 maxNbSweeps, const PxU32 maxNbSweepTouches, const PxU32 maxNbOverlaps, const PxU32 maxNbOverlapTouches)
	Create a PxBatchQueryExt without the need for pre-allocated result or touch buffers.
PxBatchQueryExt *	PxCreateBatchQueryExt (const PxScene &scene, PxQueryFilterCallback *queryFilterCallback, PxRaycastBuffer *raycastBuffers, const PxU32 maxNbRaycasts, PxRaycastHit *raycastTouches, const PxU32 maxNbRaycastTouches, PxSweepBuffer *sweepBuffers, const PxU32 maxNbSweeps, PxSweepHit *sweepTouches, const PxU32 maxNbSweepTouches, PxOverlapBuffer *overlapBuffers, const PxU32 maxNbOverlaps, PxOverlapHit *overlapTouches, const PxU32 maxNbOverlapTouches)
	Create a PxBatchQueryExt with user-supplied result and touch buffers.
PxSceneQuerySystem *	PxCreateExternalSceneQuerySystem (const PxSceneQueryDesc &desc, PxU64 contextID)
	Creates an external scene query system.
PxRigidDynamic *	PxCreateDynamic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateDynamic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)
	simple method to create a PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateKinematic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, PxReal density, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
PxRigidDynamic *	PxCreateKinematic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape, PxReal density)
	simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
PxRigidStatic *	PxCreateStatic (PxPhysics &sdk, const PxTransform &transform, const PxGeometry &geometry, PxMaterial &material, const PxTransform &shapeOffset=PxTransform(PxIdentity))
	simple method to create a PxRigidStatic actor with a single PxShape.
PxRigidStatic *	PxCreateStatic (PxPhysics &sdk, const PxTransform &transform, PxShape &shape)
	simple method to create a PxRigidStatic actor with a single PxShape.
PxShape *	PxCloneShape (PxPhysics &physicsSDK, const PxShape &shape, bool isExclusive)
	create a shape by copying attributes from another shape
PxRigidStatic *	PxCloneStatic (PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidActor &actor)
	create a static body by copying attributes from another rigid actor
PxRigidDynamic *	PxCloneDynamic (PxPhysics &physicsSDK, const PxTransform &transform, const PxRigidDynamic &body)
	create a dynamic body by copying attributes from an existing body
PxRigidStatic *	PxCreatePlane (PxPhysics &sdk, const PxPlane &plane, PxMaterial &material)
	create a plane actor. The plane equation is n.x + d = 0
void	PxScaleRigidActor (PxRigidActor &actor, PxReal scale, bool scaleMassProps=true)
	scale a rigid actor by a uniform scale
PxSphericalJoint *	PxSphericalJointCreate (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
	Create a spherical joint.
bool	PxComputeTriangleMeshPenetration (PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 maxIter, PxU32 *usedIter=NULL)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
bool	PxComputeHeightFieldPenetration (PxVec3 &direction, PxReal &depth, const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &heightFieldGeom, const PxTransform &heightFieldPose, PxU32 maxIter, PxU32 *usedIter=NULL)
	Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
bool	PxExtractIsosurfaceFromSDF (const PxTriangleMesh &triangleMesh, PxArray< PxVec3 > &isosurfaceVertices, PxArray< PxU32 > &isosurfaceTriangleIndices)
	Extracts an isosurface from the SDF of a mesh if it the SDF is available.
template<class T , class Alloc >
PX_INLINE void	swap (PxArray< T, Alloc > &x, PxArray< T, Alloc > &y)
PX_FOUNDATION_API PX_DEPRECATED PxAssertHandler &	PxGetAssertHandler ()
PX_FOUNDATION_API PX_DEPRECATED void	PxSetAssertHandler (PxAssertHandler &handler)
PX_FOUNDATION_API PxI32	PxAtomicExchange (volatile PxI32 *dest, PxI32 val)
PX_FOUNDATION_API PxI32	PxAtomicCompareExchange (volatile PxI32 *dest, PxI32 exch, PxI32 comp)
PX_FOUNDATION_API void *	PxAtomicCompareExchangePointer (volatile void **dest, void *exch, void *comp)
PX_FOUNDATION_API PxI32	PxAtomicIncrement (volatile PxI32 *val)
PX_FOUNDATION_API PxI32	PxAtomicDecrement (volatile PxI32 *val)
PX_FOUNDATION_API PxI32	PxAtomicAdd (volatile PxI32 *val, PxI32 delta)
PX_FOUNDATION_API PxI32	PxAtomicMax (volatile PxI32 *val, PxI32 val2)
template<typename T >
T	PxPointerOffset (void *p, ptrdiff_t offset)
template<typename T >
T	PxPointerOffset (const void *p, ptrdiff_t offset)
template<class T >
PX_CUDA_CALLABLE PX_INLINE void	PxSwap (T &x, T &y)
PX_INLINE uint32_t	PxBitCount (uint32_t v)
PX_INLINE bool	PxIsPowerOfTwo (uint32_t x)
PX_INLINE uint32_t	PxNextPowerOfTwo (uint32_t x)
PX_INLINE uint32_t	PxLowestSetBit (uint32_t x)
PX_INLINE uint32_t	PxHighestSetBit (uint32_t x)
PX_INLINE uint32_t	PxILog2 (uint32_t num)
PX_FOUNDATION_API void	PxEnableFPExceptions ()
	Enables floating point exceptions for the scalar and SIMD unit.
PX_FOUNDATION_API void	PxDisableFPExceptions ()
	Disables floating point exceptions for the scalar and SIMD unit.
PX_FORCE_INLINE uint32_t	PxComputeHash (const uint32_t key)
PX_FORCE_INLINE uint32_t	PxComputeHash (const int32_t key)
PX_FORCE_INLINE uint32_t	PxComputeHash (const uint64_t key)
PX_INLINE uint32_t	PxComputeHash (const void *ptr)
template<typename F , typename S >
PX_INLINE uint32_t	PxComputeHash (const PxPair< F, S > &p)
template<class Type >
PX_CUDA_CALLABLE PX_INLINE PxMat33T< Type >	operator* (Type scalar, const PxMat33T< Type > &m)
template<class Type >
PX_INLINE PxMat34T< Type >	operator* (const PxMat33T< Type > &a, const PxMat34T< Type > &b)
	Multiply a*b, a is extended.
	PX_COMPILE_TIME_ASSERT (0==(sizeof(PxMat34Padded)==16))
template<class T >
PX_CUDA_CALLABLE PX_FORCE_INLINE T	PxMax (T a, T b)
	The return value is the greater of the two specified values.
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxMax (float a, float b)
	overload for float to use fsel on xbox
template<class T >
PX_CUDA_CALLABLE PX_FORCE_INLINE T	PxMin (T a, T b)
	The return value is the lesser of the two specified values.
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxMin (float a, float b)
	overload for float to use fsel on xbox
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxAbs (float a)
	abs returns the absolute value of its argument.
PX_CUDA_CALLABLE PX_FORCE_INLINE bool	PxEquals (float a, float b, float eps)
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxAbs (double a)
	abs returns the absolute value of its argument.
PX_CUDA_CALLABLE PX_FORCE_INLINE int32_t	PxAbs (int32_t a)
	abs returns the absolute value of its argument.
template<class T >
PX_CUDA_CALLABLE PX_FORCE_INLINE T	PxClamp (T v, T lo, T hi)
	Clamps v to the range [hi,lo].
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxSqrt (float a)
	Square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxSqrt (double a)
	Square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxRecipSqrt (float a)
	reciprocal square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxRecipSqrt (double a)
	reciprocal square root.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32	PxSqr (const PxF32 a)
	square of the argument
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxSin (float a)
	trigonometry – all angles are in radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxSin (double a)
	Sine of an angle ( Unit: Radians )
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxCos (float a)
	Cosine of an angle (Unit: Radians)
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxCos (double a)
	Cosine of an angle (Unit: Radians)
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxSinCos (const PxF32 a, PxF32 &sin, PxF32 &cos)
	compute sine and cosine at the same time
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxSinCos (const double a, double &sin, double &cos)
	compute sine and cosine at the same time
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxTan (float a)
	Tangent of an angle. Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxTan (double a)
	Tangent of an angle. Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxAsin (float f)
	Arcsine. Returns angle between -PI/2 and PI/2 in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxAsin (double f)
	Arcsine. Returns angle between -PI/2 and PI/2 in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxAcos (float f)
	Arccosine. Returns angle between 0 and PI in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxAcos (double f)
	Arccosine. Returns angle between 0 and PI in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxAtan (float a)
	ArcTangent. Returns angle between -PI/2 and PI/2 in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxAtan (double a)
	ArcTangent. Returns angle between -PI/2 and PI/2 in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxAtan2 (float x, float y)
	Arctangent of (x/y) with correct sign. Returns angle between -PI and PI in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE double	PxAtan2 (double x, double y)
	Arctangent of (x/y) with correct sign. Returns angle between -PI and PI in radians Unit: Radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32	PxDegToRad (const PxF32 a)
	Converts degrees to radians.
PX_CUDA_CALLABLE PX_FORCE_INLINE bool	PxIsFinite (float f)
	returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
PX_CUDA_CALLABLE PX_FORCE_INLINE bool	PxIsFinite (double f)
	returns true if the passed number is a finite floating point number as opposed to INF, NAN, etc.
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxFloor (float a)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxExp (float a)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxCeil (float a)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxSign (float a)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxSign2 (float a, float eps=FLT_EPSILON)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxPow (float x, float y)
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxLog (float x)
PX_FOUNDATION_API PxQuat	PxShortestRotation (const PxVec3 &from, const PxVec3 &target)
	finds the shortest rotation between two vectors.
PX_FOUNDATION_API PxVec3	PxDiagonalize (const PxMat33 &m, PxQuat &axes)
PX_FOUNDATION_API PxTransform	PxTransformFromSegment (const PxVec3 &p0, const PxVec3 &p1, PxReal *halfHeight=NULL)
	creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleGeometry
PX_FOUNDATION_API PxTransform	PxTransformFromPlaneEquation (const PxPlane &plane)
	creates a transform from a plane equation, suitable for an actor transform for a PxPlaneGeometry
PX_INLINE PxPlane	PxPlaneEquationFromTransform (const PxTransform &pose)
	creates a plane equation from a transform, such as the actor transform for a PxPlaneGeometry
PX_FOUNDATION_API PxQuat	PxSlerp (const PxReal t, const PxQuat &left, const PxQuat &right)
	Spherical linear interpolation of two quaternions.
PX_FOUNDATION_API void	PxIntegrateTransform (const PxTransform &curTrans, const PxVec3 &linvel, const PxVec3 &angvel, PxReal timeStep, PxTransform &result)
	integrate transform.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxQuat	PxExp (const PxVec3 &v)
	Compute the exponent of a PxVec3.
PX_FOUNDATION_API PxVec3	PxOptimizeBoundingBox (PxMat33 &basis)
	computes a oriented bounding box around the scaled basis.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	PxLog (const PxQuat &q)
	return Returns the log of a PxQuat
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	PxLargestAxis (const PxVec3 &v)
	return Returns 0 if v.x is largest element of v, 1 if v.y is largest element, 2 if v.z is largest element.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	PxTanHalf (PxReal sin, PxReal cos)
	Compute tan(theta/2) given sin(theta) and cos(theta) as inputs.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3	PxEllipseClamp (const PxVec3 &point, const PxVec3 &radii)
	Compute the closest point on an 2d ellipse to a given 2d point.
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxSeparateSwingTwist (const PxQuat &q, PxQuat &swing, PxQuat &twist)
	Compute from an input quaternion q a pair of quaternions (swing, twist) such that q = swing * twist with the caveats that swing.x = twist.y = twist.z = 0.
PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32	PxComputeAngle (const PxVec3 &v0, const PxVec3 &v1)
	Compute the angle between two non-unit vectors.
PX_INLINE void	PxComputeBasisVectors (const PxVec3 &dir, PxVec3 &right, PxVec3 &up)
	Compute two normalized vectors (right and up) that are perpendicular to an input normalized vector (dir).
PX_INLINE void	PxComputeBasisVectors (const PxVec3 &p0, const PxVec3 &p1, PxVec3 &dir, PxVec3 &right, PxVec3 &up)
	Compute three normalized vectors (dir, right and up) that are parallel to (dir) and perpendicular to (right, up) the normalized direction vector (p1 - p0)/||p1 - p0||.
PX_INLINE PxU32	PxGetNextIndex3 (PxU32 i)
	Compute (i+1)%3.
PX_INLINE PX_CUDA_CALLABLE void	computeBarycentric (const PxVec3 &a, const PxVec3 &b, const PxVec3 &c, const PxVec3 &d, const PxVec3 &p, PxVec4 &bary)
PX_INLINE PX_CUDA_CALLABLE void	computeBarycentric (const PxVec3 &a, const PxVec3 &b, const PxVec3 &c, const PxVec3 &p, PxVec4 &bary)
PX_INLINE PX_CUDA_CALLABLE PxReal	PxSdfSample (const PxReal *PX_RESTRICT sdf, const PxVec3 &localPos, const PxVec3 &sdfBoxLower, const PxVec3 &sdfBoxHigher, const PxReal sdfDx, const PxReal invSdfDx, const PxU32 dimX, const PxU32 dimY, const PxU32 dimZ, PxVec3 &gradient, PxReal tolerance=PX_MAX_F32)
PX_FORCE_INLINE void *	PxMemZero (void *dest, PxU32 count)
	Sets the bytes of the provided buffer to zero.
PX_FORCE_INLINE void *	PxMemSet (void *dest, PxI32 c, PxU32 count)
	Sets the bytes of the provided buffer to the specified value.
PX_FORCE_INLINE void *	PxMemCopy (void *dest, const void *src, PxU32 count)
	Copies the bytes of one memory block to another. The memory blocks must not overlap.
PX_FORCE_INLINE void *	PxMemMove (void *dest, const void *src, PxU32 count)
	Copies the bytes of one memory block to another. The memory blocks can overlap.
PX_INLINE void	PxMarkSerializedMemory (void *ptr, PxU32 byteSize)
class physx::PxSListEntry	PX_ALIGN_SUFFIX (PX_SLIST_ALIGNMENT)
template<class T , class Predicate , class PxAllocator >
void	PxSort (T *elements, uint32_t count, const Predicate &compare, const PxAllocator &inAllocator, const uint32_t initialStackSize=32)
template<class T , class Predicate >
void	PxSort (T *elements, uint32_t count, const Predicate &compare)
template<class T >
void	PxSort (T *elements, uint32_t count)
template<class T , class Predicate >
PX_INLINE void	PxMedian3 (T *elements, int32_t first, int32_t last, Predicate &compare)
template<class T , class Predicate >
PX_INLINE int32_t	PxPartition (T *elements, int32_t first, int32_t last, Predicate &compare)
template<class T , class Predicate >
PX_INLINE void	PxSmallSort (T *elements, int32_t first, int32_t last, Predicate &compare)
template<typename T >
PX_INLINE PxStrideIterator< T >	operator+ (int i, PxStrideIterator< T > it)
	Addition operator.
template<typename T >
PX_INLINE PxStrideIterator< T >	PxMakeIterator (T *ptr, PxU32 stride=sizeof(T))
	Stride iterator factory function which infers the iterator type.
template<typename T >
PX_INLINE PxStrideIterator< const T >	PxMakeIterator (const T *ptr, PxU32 stride=sizeof(T))
	Stride iterator factory function which infers the iterator type.
PX_FOUNDATION_API int32_t	Pxsscanf (const char *buffer, const char *format,...)
PX_FOUNDATION_API int32_t	Pxstrcmp (const char *str1, const char *str2)
PX_FOUNDATION_API int32_t	Pxstrncmp (const char *str1, const char *str2, size_t count)
PX_FOUNDATION_API int32_t	Pxsnprintf (char *dst, size_t dstSize, const char *format,...)
PX_FOUNDATION_API int32_t	Pxvsnprintf (char *dst, size_t dstSize, const char *src, va_list arg)
PX_FOUNDATION_API size_t	Pxstrlcat (char *dst, size_t dstSize, const char *src)
PX_FOUNDATION_API size_t	Pxstrlcpy (char *dst, size_t dstSize, const char *src)
PX_FOUNDATION_API int32_t	Pxstricmp (const char *str1, const char *str2)
PX_FOUNDATION_API int32_t	Pxstrnicmp (const char *str1, const char *str2, size_t count)
PX_FOUNDATION_API void	Pxstrlwr (char *str)
PX_FOUNDATION_API void	Pxstrupr (char *str)
PX_FOUNDATION_API void	PxPrintString (const char *)
	Prints the string literally (does not consume % specifier), trying to make sure it's visible to the app programmer.
PX_FOUNDATION_API PxU32	PxTlsAlloc ()
PX_FOUNDATION_API void	PxTlsFree (PxU32 index)
PX_FOUNDATION_API void *	PxTlsGet (PxU32 index)
PX_FOUNDATION_API size_t	PxTlsGetValue (PxU32 index)
PX_FOUNDATION_API PxU32	PxTlsSet (PxU32 index, void *value)
PX_FOUNDATION_API PxU32	PxTlsSetValue (PxU32 index, size_t value)
struct	PX_ALIGN_PREFIX (16) PxTransformPadded
	A generic padded & aligned transform class.
	PX_ALIGN_SUFFIX (16)
	PX_COMPILE_TIME_ASSERT (sizeof(PxTransformPadded)==32)
template<class A , class B >
PX_FORCE_INLINE A	PxUnionCast (B b)
PX_INLINE char	PxLittleEndian ()
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	PxTo32 (PxU64 value)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16	PxTo16 (PxU32 value)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8	PxTo8 (PxU16 value)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8	PxTo8 (PxU32 value)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8	PxTo8 (PxI32 value)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxI8	PxToI8 (PxU32 value)
template<class T >
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxOrder (T &x, T &y)
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxOrder (PxReal &x, PxReal &y)
template<class T , class E1 >
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxOrder (T &x, T &y, E1 &xe1, E1 &ye1)
PX_INLINE void	PxDebugBreak ()
	PX_COMPILE_TIME_ASSERT (sizeof(PxVec3Padded)==16)
PX_FORCE_INLINE void	PxMemoryBarrier ()
PX_INLINE uint32_t	PxHighestSetBitUnsafe (uint32_t v)
PX_INLINE uint32_t	PxLowestSetBitUnsafe (uint32_t v)
PX_INLINE uint32_t	PxCountLeadingZeros (uint32_t v)
PX_FORCE_INLINE void	PxPrefetchLine (const void *ptr, uint32_t offset=0)
PX_FORCE_INLINE void	PxPrefetch (const void *ptr, uint32_t count=1)
PX_C_EXPORT PX_PHYSX_COMMON_API bool PX_CALL_CONV	PxFindOverlap (PxReportCallback< PxGeomIndexPair > &callback, const PxBVH &bvh0, const PxBVH &bvh1)
	BVH-vs-BVH overlap test.
class physx::PxGeometryHolder	PX_ALIGN_SUFFIX (4)
PX_C_EXPORT PX_PHYSX_COMMON_API bool PX_CALL_CONV	PxGetTriangleMeshInternalData (PxTriangleMeshInternalData &data, const PxTriangleMesh &mesh, bool takeOwnership)
PX_C_EXPORT PX_PHYSX_COMMON_API bool PX_CALL_CONV	PxGetBVHInternalData (PxBVHInternalData &data, const PxBVH &bvh, bool takeOwnership)
PX_C_EXPORT PxPvd *PX_CALL_CONV	PxCreatePvd (PxFoundation &foundation)
	Create a pvd instance.
PX_C_EXPORT PxPvdTransport *PX_CALL_CONV	PxDefaultPvdSocketTransportCreate (const char *host, int port, unsigned int timeoutInMilliseconds)
	Create a default socket transport.
PX_C_EXPORT PxPvdTransport *PX_CALL_CONV	PxDefaultPvdFileTransportCreate (const char *name)
	Create a default file transport.
struct physx::PxGpuActorPair	PX_ALIGN_SUFFIX (8)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxAggregateFilterHint	PxGetAggregateFilterHint (PxAggregateType::Enum type, bool enableSelfCollision)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	PxGetAggregateSelfCollisionBit (PxAggregateFilterHint hint)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxAggregateType::Enum	PxGetAggregateType (PxAggregateFilterHint hint)
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup	PxGetBroadPhaseStaticFilterGroup ()
	Retrieves the filter group for static objects.
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup	PxGetBroadPhaseDynamicFilterGroup (PxU32 id)
	Retrieves a filter group for dynamic objects.
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup	PxGetBroadPhaseKinematicFilterGroup (PxU32 id)
	Retrieves a filter group for kinematic objects.
PX_C_EXPORT PX_PHYSX_CORE_API PxBroadPhase *	PxCreateBroadPhase (const PxBroadPhaseDesc &desc)
	Broadphase factory function.
PX_C_EXPORT PX_PHYSX_CORE_API PxAABBManager *	PxCreateAABBManager (PxBroadPhase &broadphase)
	AABB manager factory function.
PX_INLINE PxFilterObjectType::Enum	PxGetFilterObjectType (PxFilterObjectAttributes attr)
	Extract filter object type from the filter attributes of a collision pair object.
PX_INLINE bool	PxFilterObjectIsKinematic (PxFilterObjectAttributes attr)
	Specifies whether the collision object belongs to a kinematic rigid body.
PX_INLINE bool	PxFilterObjectIsTrigger (PxFilterObjectAttributes attr)
	Specifies whether the collision object is a trigger shape.
struct	PX_ALIGN_PREFIX (8) PxParticleSpring
	Holds all the information for a spring constraint between two particles. Used for particle cloth simulation.
	PX_COMPILE_TIME_ASSERT (PxQueryFlag::eSTATIC==(1<< 0))
	PX_COMPILE_TIME_ASSERT (PxQueryFlag::eDYNAMIC==(1<< 1))
	PX_COMPILE_TIME_ASSERT (PxQueryFlag::eBATCH_QUERY_LEGACY_BEHAVIOUR==PxQueryFlag::eDISABLE_HARDCODED_FILTER)
	PX_COMPILE_TIME_ASSERT (sizeof(PxSolverBody)==32)
PX_DEPRECATED PX_C_EXPORT bool PX_CALL_CONV	PxInitVehicleSDK (PxPhysics &physics, PxSerializationRegistry *serializationRegistry=NULL)
	Initialize the PhysXVehicle library.
PX_DEPRECATED PX_C_EXPORT void PX_CALL_CONV	PxCloseVehicleSDK (PxSerializationRegistry *serializationRegistry=NULL)
	Shut down the PhysXVehicle library.
PX_DEPRECATED void	PxVehicleSetBasisVectors (const PxVec3 &up, const PxVec3 &forward)
	Set the basis vectors of the vehicle simulation.
PX_DEPRECATED void	PxVehicleSetUpdateMode (PxVehicleUpdateMode::Enum vehicleUpdateMode)
	Set the effect of PxVehicleUpdates to be either to modify each vehicle's rigid body actor.
PX_DEPRECATED void	PxVehicleSetSweepHitRejectionAngles (const PxF32 pointRejectAngle, const PxF32 normalRejectAngle)
	Set threshold angles that are used to determine if a wheel hit is to be resolved by vehicle suspension or by rigid body collision.
PX_DEPRECATED void	PxVehicleSetMaxHitActorAcceleration (const PxF32 maxHitActorAcceleration)
	Determine the maximum acceleration experienced by PxRigidDynamic instances that are found to be in contact with a wheel.
PX_DEPRECATED const PxVehicleContext &	PxVehicleGetDefaultContext ()
	Get the default vehicle context.
PX_DEPRECATED void	PxVehicleSuspensionRaycasts (PxBatchQueryExt *batchQuery, const PxU32 nbVehicles, PxVehicleWheels **vehicles, const bool *vehiclesToRaycast=NULL, const PxQueryFlags queryFlags=PxQueryFlag::eSTATIC|PxQueryFlag::eDYNAMIC|PxQueryFlag::ePREFILTER)
	Perform raycasts for all suspension lines for all vehicles.
PX_DEPRECATED void	PxVehicleSuspensionSweeps (PxBatchQueryExt *batchQuery, const PxU32 nbVehicles, PxVehicleWheels **vehicles, const PxU16 nbHitsPerQuery, const bool *vehiclesToSweep=NULL, const PxF32 sweepWidthScale=1.0f, const PxF32 sweepRadiusScale=1.0f, const PxF32 sweepInflation=0.0f, const PxQueryFlags queryFlags=PxQueryFlag::eSTATIC|PxQueryFlag::eDYNAMIC|PxQueryFlag::ePREFILTER, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	Perform sweeps for all suspension lines for all vehicles.
PX_DEPRECATED PxU32	PxVehicleModifyWheelContacts (const PxVehicleWheels &vehicle, const PxU32 wheelId, const PxF32 wheelTangentVelocityMultiplier, const PxReal maxImpulse, PxContactModifyPair &contactModifyPair, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	A function called from PxContactModifyCallback::onContactModify. The function determines if rigid body contact points recorded for the wheel's PxShape are likely to be duplicated and resolved by the wheel's suspension raycast. Contact points that will be resolved by the suspension are ignored. Contact points that are accepted (rather than ignored) are modified to account for the effect of the suspension geometry and the angular speed of the wheel.
PX_DEPRECATED void	PxVehicleUpdates (const PxReal timestep, const PxVec3 &gravity, const PxVehicleDrivableSurfaceToTireFrictionPairs &vehicleDrivableSurfaceToTireFrictionPairs, const PxU32 nbVehicles, PxVehicleWheels **vehicles, PxVehicleWheelQueryResult *vehicleWheelQueryResults, PxVehicleConcurrentUpdateData *vehicleConcurrentUpdates=NULL, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	Update an array of vehicles by either applying an acceleration to the rigid body actor associated with each vehicle or by an immediate update of the velocity of the actor.
PX_DEPRECATED void	PxVehiclePostUpdates (const PxVehicleConcurrentUpdateData *vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels **vehicles, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	Apply actor changes that were computed in concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which could not be safely applied due to the concurrency.
PX_DEPRECATED void	PxVehicleShiftOrigin (const PxVec3 &shift, const PxU32 nbVehicles, PxVehicleWheels **vehicles)
	Shift the origin of vehicles by the specified vector.
PX_DEPRECATED bool	PxVehicleIsInAir (const PxVehicleWheelQueryResult &vehWheelQueryResults)
	Test if all wheels of a vehicle are in the air by querying the wheel query data stored in the last call to PxVehicleUpdates. If all wheels are in the air then true is returned.
PX_DEPRECATED void	PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs (const PxVehicleKeySmoothingData &keySmoothing, const PxFixedSizeLookupTable< 8 > &steerVsForwardSpeedTable, const PxVehicleDrive4WRawInputData &rawInputData, const PxReal timestep, const bool isVehicleInAir, PxVehicleDrive4W &focusVehicle, const PxVehicleSteerFilter &steerFilter=PxVehicleSteerFilter(), const PxVec3 &forwardAxis=PxVehicleGetDefaultContext().forwardAxis)
	Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs (const PxVehiclePadSmoothingData &padSmoothing, const PxFixedSizeLookupTable< 8 > &steerVsForwardSpeedTable, const PxVehicleDrive4WRawInputData &rawInputData, const PxReal timestep, const bool isVehicleInAir, PxVehicleDrive4W &focusVehicle, const PxVehicleSteerFilter &steerFilter=PxVehicleSteerFilter(), const PxVec3 &forwardAxis=PxVehicleGetDefaultContext().forwardAxis)
	Used to smooth and set analog vehicle control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs (const PxVehicleKeySmoothingData &keySmoothing, const PxFixedSizeLookupTable< 8 > &steerVsForwardSpeedTable, const PxVehicleDriveNWRawInputData &rawInputData, const PxReal timestep, const bool isVehicleInAir, PxVehicleDriveNW &focusVehicle, const PxVehicleSteerFilter &steerFilter=PxVehicleSteerFilter(), const PxVec3 &forwardAxis=PxVehicleGetDefaultContext().forwardAxis)
	Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs (const PxVehiclePadSmoothingData &padSmoothing, const PxFixedSizeLookupTable< 8 > &steerVsForwardSpeedTable, const PxVehicleDriveNWRawInputData &rawInputData, const PxReal timestep, const bool isVehicleInAir, PxVehicleDriveNW &focusVehicle, const PxVehicleSteerFilter &steerFilter=PxVehicleSteerFilter(), const PxVec3 &forwardAxis=PxVehicleGetDefaultContext().forwardAxis)
	Used to smooth and set analog vehicle control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs (const PxVehicleKeySmoothingData &keySmoothing, const PxVehicleDriveTankRawInputData &rawInputData, const PxReal timestep, PxVehicleDriveTank &focusVehicle)
	Used to smooth and set analog tank control values from digital inputs (keyboard). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs (const PxVehiclePadSmoothingData &padSmoothing, const PxVehicleDriveTankRawInputData &rawInputData, const PxReal timestep, PxVehicleDriveTank &focusVehicle)
	Used to smooth and set analog tank control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.
PX_DEPRECATED void	PxVehicle4WEnable3WTadpoleMode (PxVehicleWheelsSimData &wheelsSimData, PxVehicleWheelsDynData &wheelsDynData, PxVehicleDriveSimData4W &driveSimData, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	Reconfigure a PxVehicle4W instance as a three-wheeled car with tadpole config (2 front wheels, 1 rear wheel)
PX_DEPRECATED void	PxVehicle4WEnable3WDeltaMode (PxVehicleWheelsSimData &wheelsSimData, PxVehicleWheelsDynData &wheelsDynData, PxVehicleDriveSimData4W &driveSimData, const PxVehicleContext &context=PxVehicleGetDefaultContext())
	Reconfigure a PxVehicle4W instance as a three-wheeled car with delta config (1 front wheel, 2 rear wheels)
PX_DEPRECATED void	PxVehicleComputeSprungMasses (const PxU32 nbSprungMasses, const PxVec3 *sprungMassCoordinates, const PxVec3 &centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal *sprungMasses)
	Compute the sprung masses of the suspension springs given (i) the number of sprung masses, (ii) coordinates of the sprung masses, (iii) the center of mass offset of the rigid body, (iv) the total mass of the rigid body, and (v) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis).
PX_DEPRECATED void	PxVehicleUpdateCMassLocalPose (const PxTransform &oldCMassLocalPose, const PxTransform &newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels *vehicle)
	Reconfigure the vehicle to reflect a new center of mass local pose that has been applied to the actor. The function requires (i) the center of mass local pose that was last used to configure the vehicle and the vehicle's actor, (ii) the new center of mass local pose that has been applied to the vehicle's actor and will now be applied to the vehicle, and (iii) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis)
PX_DEPRECATED void	PxVehicleCopyDynamicsData (const PxVehicleCopyDynamicsMap &wheelMap, const PxVehicleWheels &src, PxVehicleWheels *trg)
	Copy dynamics data from src to trg, including wheel rotation speed, wheel rotation angle, engine rotation speed etc.
PX_INLINE PxMat34	operator* (const PxTransform &transform, const PxMeshScale &scale)
PX_INLINE PxMat34	operator* (const PxMeshScale &scale, const PxTransform &transform)
PX_INLINE PxMat34	operator* (const PxMat34 &transform, const PxMeshScale &scale)
PX_INLINE PxMat34	operator* (const PxMeshScale &scale, const PxMat34 &transform)
PX_INLINE void	flip (PxU16 &v)
PX_INLINE void	flip (PxI16 &v)
PX_INLINE void	flip (PxU32 &v)
PX_INLINE void	flip (PxF32 &v)
PX_INLINE void	writeChunk (PxI8 a, PxI8 b, PxI8 c, PxI8 d, PxOutputStream &stream)
void	readChunk (PxI8 &a, PxI8 &b, PxI8 &c, PxI8 &d, PxInputStream &stream)
PxU16	readWord (bool mismatch, PxInputStream &stream)
PxU32	readDword (bool mismatch, PxInputStream &stream)
PxF32	readFloat (bool mismatch, PxInputStream &stream)
void	writeWord (PxU16 value, bool mismatch, PxOutputStream &stream)
void	writeDword (PxU32 value, bool mismatch, PxOutputStream &stream)
void	writeFloat (PxF32 value, bool mismatch, PxOutputStream &stream)
bool	readFloatBuffer (PxF32 *dest, PxU32 nbFloats, bool mismatch, PxInputStream &stream)
void	writeFloatBuffer (const PxF32 *src, PxU32 nb, bool mismatch, PxOutputStream &stream)
void	writeWordBuffer (const PxU16 *src, PxU32 nb, bool mismatch, PxOutputStream &stream)
void	readWordBuffer (PxU16 *dest, PxU32 nb, bool mismatch, PxInputStream &stream)
void	writeWordBuffer (const PxI16 *src, PxU32 nb, bool mismatch, PxOutputStream &stream)
void	readWordBuffer (PxI16 *dest, PxU32 nb, bool mismatch, PxInputStream &stream)
void	writeByteBuffer (const PxU8 *src, PxU32 nb, PxOutputStream &stream)
void	readByteBuffer (PxU8 *dest, PxU32 nb, PxInputStream &stream)
bool	writeHeader (PxI8 a, PxI8 b, PxI8 c, PxI8 d, PxU32 version, bool mismatch, PxOutputStream &stream)
bool	readHeader (PxI8 a, PxI8 b, PxI8 c, PxI8 d, PxU32 &version, bool &mismatch, PxInputStream &stream)
PX_INLINE bool	readIntBuffer (PxU32 *dest, PxU32 nbInts, bool mismatch, PxInputStream &stream)
PX_INLINE void	writeIntBuffer (const PxU32 *src, PxU32 nb, bool mismatch, PxOutputStream &stream)
PX_INLINE bool	ReadDwordBuffer (PxU32 *dest, PxU32 nb, bool mismatch, PxInputStream &stream)
PX_INLINE void	WriteDwordBuffer (const PxU32 *src, PxU32 nb, bool mismatch, PxOutputStream &stream)
PxU32	computeMaxIndex (const PxU32 *indices, PxU32 nbIndices)
PxU16	computeMaxIndex (const PxU16 *indices, PxU32 nbIndices)
void	storeIndices (PxU32 maxIndex, PxU32 nbIndices, const PxU32 *indices, PxOutputStream &stream, bool platformMismatch)
void	readIndices (PxU32 maxIndex, PxU32 nbIndices, PxU32 *indices, PxInputStream &stream, bool platformMismatch)
PX_FORCE_INLINE bool	readBigEndianVersionNumber (PxInputStream &stream, bool mismatch_, PxU32 &fileVersion, bool &mismatch)
	PX_COMPILE_TIME_ASSERT (sizeof(Cm::SpatialVector)==32)
	PX_COMPILE_TIME_ASSERT (sizeof(Cm::SpatialVectorV)==32)
PX_INLINE Foundation &	getFoundation ()
void	socketSetBlockingInternal (int32_t socket, bool blocking)
PX_FORCE_INLINE void	buildFrom (Gu::Box &dst, const PxQuat &q)
PX_FORCE_INLINE void	buildFrom (Gu::Box &dst, const PxVec3 &center, const PxVec3 &extents, const PxQuat &q)
PX_FORCE_INLINE void	buildMatrixFromBox (PxMat34 &mat34, const Gu::Box &box)
PX_INLINE Gu::Box	transform (const PxMat34 &transfo, const Gu::Box &box)
PX_INLINE Gu::Box	transformBoxOrthonormal (const Gu::Box &box, const PxTransform &t)
PX_INLINE void	rotate (const Gu::Box &src, const PxMat34 &mtx, Gu::Box &obb)
	recomputes the OBB after an arbitrary transform by a 4x4 matrix.
PX_FORCE_INLINE void	getInverse (PxMat33 &dstRot, PxVec3 &dstTrans, const PxMat33 &srcRot, const PxVec3 &srcTrans)
template<class Geom >
PX_CUDA_CALLABLE PX_FORCE_INLINE const Geom &	checkedCast (const PxGeometry &geom)
PX_INLINE CubeIndex	CubemapLookup (const PxVec3 &direction, float &u, float &v)
PX_INLINE PxU32	ComputeCubemapOffset (const PxVec3 &dir, PxU32 subdiv)
PX_INLINE PxU32	ComputeCubemapNearestOffset (const PxVec3 &dir, PxU32 subdiv)
void	localSearch (PxU32 &id, const PxVec3 &dir, const PxVec3 *verts, const Gu::BigConvexRawData *val)
ConvexHull *	convexHullCrop (const ConvexHull &convex, const PxPlane &slice, float planetestepsilon)
PX_FORCE_INLINE PxVec3	threePlaneIntersection (const PxPlane &p0, const PxPlane &p1, const PxPlane &p2)
bool	computeOBBFromConvex (const PxConvexMeshDesc &desc, PxVec3 &sides, PxTransform &matrix)
bool	computeVolumeIntegrals (const PxSimpleTriangleMesh &mesh, PxReal density, PxIntegrals &integrals)
bool	computeVolumeIntegralsEberly (const PxConvexMeshDesc &mesh, PxReal density, PxIntegrals &integrals, const PxVec3 &origin, bool useSimd)
PX_PHYSX_COMMON_API void	quantizeSparseSDF (PxSdfBitsPerSubgridPixel::Enum bitsPerSubgridPixel, const PxArray< PxReal > &uncompressedSdfDataSubgrids, PxArray< PxU8 > &compressedSdfDataSubgrids, PxReal subgridsMinSdfValue, PxReal subgridsMaxSdfValue)
PX_FORCE_INLINE PxU32	idxCompact (PxU32 x, PxU32 y, PxU32 z, PxU32 width, PxU32 height)
bool	buildSDF (PxTriangleMeshDesc &desc, PxArray< PxReal > &sdf, PxArray< PxU8 > &sdfDataSubgrids, PxArray< PxU32 > &sdfSubgridsStartSlots)
template<class T >
PX_CUDA_CALLABLE PX_FORCE_INLINE void	checkType (const PxGeometry &geometry)
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE void	checkType< PxCapsuleGeometry > (const PxGeometry &geometry)
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE void	checkType< const PxCapsuleGeometry > (const PxGeometry &geometry)
PX_FORCE_INLINE void	computeWorldToBoxMatrix (PxMat34 &worldToBox, const physx::Gu::Box &box)
PX_FORCE_INLINE PxU32	getTriangleIndex (PxU32 i, PxU32 cachedIndex)
PX_FORCE_INLINE const Gu::HeightFieldData *	_getHFData (const PxHeightFieldGeometry &hfGeom)
PX_INLINE float	computeSweepData (const PxTriangleMeshGeometry &triMeshGeom, PxVec3 &sweepOrigin, PxVec3 &sweepExtents, PxVec3 &sweepDir, float distance)
PX_FORCE_INLINE const Gu::TriangleMesh *	_getMeshData (const PxTriangleMeshGeometry &meshGeom)
	PX_COMPILE_TIME_ASSERT (sizeof(PxsRigidCore)==32)
	PX_COMPILE_TIME_ASSERT (sizeof(PxsBodyCore)==160)
	PX_COMPILE_TIME_ASSERT (sizeof(GeometryUnion)<=64)
	PX_COMPILE_TIME_ASSERT ((sizeof(PxsShapeCore)&0xf)==0)
void	PxvInit (const PxvOffsetTable &offsetTable)
void	PxvTerm ()
void	PxvRegisterHeightFields ()
bool	PxcCacheLocalContacts (PxcNpThreadContext &context, Gu::Cache &pairContactCache, const PxTransform &tm0, const PxTransform &tm1, const PxcContactMethod conMethod, const PxGeometry &shape0, const PxGeometry &shape1)
void	PxcDiscreteNarrowPhase (PxcNpThreadContext &context, const PxcNpWorkUnit &cmInput, Gu::Cache &cache, PxsContactManagerOutput &output, PxU64 contextID)
void	PxcDiscreteNarrowPhasePCM (PxcNpThreadContext &context, const PxcNpWorkUnit &cmInput, Gu::Cache &cache, PxsContactManagerOutput &output, PxU64 contextID)
template<typename T >
void	PxcNpCacheWrite (PxcNpCacheStreamPair &streams, Gu::Cache &cache, const T &payload, PxU32 bytes, const PxU8 *data)
template<typename T >
PxU8 *	PxcNpCacheWriteInitiate (PxcNpCacheStreamPair &streams, Gu::Cache &cache, const T &payload, PxU32 bytes)
template<typename T >
PX_FORCE_INLINE void	PxcNpCacheWriteFinalize (PxU8 *ls, const T &payload, PxU32 bytes, const PxU8 *data)
template<typename T >
PX_FORCE_INLINE PxU8 *	PxcNpCacheRead (Gu::Cache &cache, T *&payload)
template<typename T >
const PxU8 *	PxcNpCacheRead2 (Gu::Cache &cache, T &payload, PxU32 &bytes)
PxU32	writeCompressedContact (const PxContactPoint *const PX_RESTRICT contactPoints, const PxU32 numContactPoints, PxcNpThreadContext *threadContext, PxU16 &writtenContactCount, PxU8 *&outContactPatches, PxU8 *&outContactPoints, PxU16 &compressedContactSize, PxReal *&contactForces, PxU32 contactForceByteSize, const PxsMaterialManager *materialManager, bool hasModifiableContacts, bool forceNoResponse, PxsMaterialInfo *PX_RESTRICT pMaterial, PxU8 &numPatches, PxU32 additionalHeaderSize=0, PxsConstraintBlockManager *manager=NULL, PxcConstraintBlockStream *blockStream=NULL, bool insertAveragePoint=false, PxcDataStreamPool *pool=NULL, PxcDataStreamPool *patchStreamPool=NULL, PxcDataStreamPool *forcePool=NULL, const bool isMeshType=false)
	PX_COMPILE_TIME_ASSERT (sizeof(g_CanUseContactCache)/sizeof(g_CanUseContactCache[0])==PxGeometryType::eGEOMETRY_COUNT)
	PX_COMPILE_TIME_ASSERT (sizeof(g_ContactMethodTable)/sizeof(g_ContactMethodTable[0])==PxGeometryType::eGEOMETRY_COUNT)
	PX_COMPILE_TIME_ASSERT (sizeof(g_PCMContactMethodTable)/sizeof(g_PCMContactMethodTable[0])==PxGeometryType::eGEOMETRY_COUNT)
	PX_COMPILE_TIME_ASSERT (sizeof(g_GetSingleMaterialMethodTable)/sizeof(g_GetSingleMaterialMethodTable[0])==PxGeometryType::eGEOMETRY_COUNT)
	PX_COMPILE_TIME_ASSERT (sizeof(g_GetMaterialMethodTable)/sizeof(g_GetMaterialMethodTable[0])==PxGeometryType::eGEOMETRY_COUNT)
float	computeCCDThreshold (const PxGeometry &geometry)
	PX_COMPILE_TIME_ASSERT ((sizeof(PxsCCDContactHeader) &0xF)==0)
struct	PX_ALIGN_PREFIX (4) PxsContactManagerOutputCounts
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	combineScalars (PxReal a, PxReal b, PxI32 combineMode)
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	PxsCombineRestitution (const PxsMaterialData &mat0, const PxsMaterialData &mat1)
PX_CUDA_CALLABLE PX_FORCE_INLINE void	PxsCombineIsotropicFriction (const PxsMaterialData &mat0, const PxsMaterialData &mat1, PxReal &dynamicFriction, PxReal &staticFriction, PxU32 &flags)
PxsMemoryManager *	createDefaultMemoryManager ()
PxvNphaseImplementationContextUsableAsFallback *	createNphaseImplementationContext (PxsContext &context, IG::IslandSim *islandSim, PxVirtualAllocatorCallback *allocator)
void	printShape (PxsRigidBody *, PxGeometryType::Enum, const char *, PxReal, PxU32, bool printPtr=true)
void	printCCDDebug (const char *, const PxsRigidBody *, PxGeometryType::Enum, bool printPtr=true)
	PX_COMPILE_TIME_ASSERT (sizeof(gEnablePCMCaching)/sizeof(gEnablePCMCaching[0])==PxGeometryType::eGEOMETRY_COUNT)
Sc::BodyCore *	getBodyCore (PxRigidActor *actor)
	PX_COMPILE_TIME_ASSERT (NpType::eTYPE_COUNT< 32)
void	NpDestroyRigidActor (NpRigidStatic *np)
void	NpDestroyRigidDynamic (NpRigidDynamic *np)
void	NpDestroyArticulationLink (NpArticulationLink *np)
void	NpDestroyArticulationJoint (PxArticulationJointReducedCoordinate *np)
void	NpDestroyArticulation (PxArticulationReducedCoordinate *artic)
void	NpDestroyAggregate (NpAggregate *np)
void	NpDestroyShape (NpShape *np)
void	NpDestroyConstraint (NpConstraint *np)
void	getBinaryMetaData_PxBase (PxOutputStream &stream)
PX_INLINE PxVec3	invertDiagInertia (const PxVec3 &m)
PxU32	NpRigidStaticGetShapes (NpRigidStatic &rigid, NpShape *const *&shapes)
PxU32	NpRigidDynamicGetShapes (NpRigidDynamic &actor, NpShape *const *&shapes, bool *isCompound=NULL)
PxU32	NpArticulationGetShapes (NpArticulationLink &actor, NpShape *const *&shapes, bool *isCompound=NULL)
PX_FORCE_INLINE bool	testSlope (const PxVec3 &normal, const PxVec3 &upDirection, PxF32 slopeLimit)
PX_INLINE PxTransform	getShapeGlobalPose (const PxShape &shape, const PxRigidActor &actor)
PX_INLINE void	decomposeVector (PxVec3 &normalCompo, PxVec3 &tangentCompo, const PxVec3 &outwardDir, const PxVec3 &outwardNormal)
PX_FORCE_INLINE bool	isAlmostZero (const PxVec3 &v)
PX_INLINE PxExtended	distance (const PxVec3 &v2, const PxVec3 &v)
PX_INLINE void	getCenter (const PxBounds3 &b, PxVec3 &center)
PX_INLINE void	getExtents (const PxBounds3 &b, PxVec3 &extents)
PX_INLINE void	setCenterExtents (PxBounds3 &b, const PxVec3 &center, const PxVec3 &extents)
PX_INLINE void	add (PxBounds3 &b, const PxBounds3 &b2)
PxQuat	angularProject (PxU32 lockedDofs, const PxQuat &q, PxReal cosHalfTol, bool &truncated)
PxConstraint *	resolveConstraintPtr (PxDeserializationContext &v, PxConstraint *old, PxConstraintConnector *connector, PxConstraintShaderTable &shaders)
void	assignTriangle (PxArray< PxU32 > &triangles, PxU32 triIndex, PxU32 a, PxU32 b, PxU32 c)
void	addTriangle (PxArray< PxU32 > &triangles, PxU32 a, PxU32 b, PxU32 c)
void	subdivideTriangle (int i, int ab, int bc, int ac, PxArray< PxU32 > &triangles, PxArray< PxVec3 > &points)
PX_FORCE_INLINE PxU64	key (PxU32 a, PxU32 b)
void	checkEdge (PxU32 a, PxU32 b, PxHashMap< PxU64, PxI32 > &edges, PxArray< PxVec3 > &points, PxReal maxEdgeLength)
PX_FORCE_INLINE PxI32	getEdge (PxU32 a, PxU32 b, PxHashMap< PxU64, PxI32 > &edges)
PX_FORCE_INLINE bool	pointInSphere (const PxVec3 &p, const PxVec3 &sphereCenter, PxReal sphereRadius)
PxVec3	computeBarycentricCoordinates (PxVec3 p, const PxVec3 &a, PxVec3 b, PxVec3 c)
void	buildTree (const PxU32 *triangles, const PxU32 numTriangles, const PxVec3 *points, PxArray< Gu::BVHNode > &tree, PxF32 enlargement=1e-4f)
PxU32 PX_FORCE_INLINE	raycast (const PxGeometry &geometry, const PxTransform &transform, const PxVec3 &rayOrigin, const PxVec3 &rayDir, PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxRaycastHit *rayHits)
bool PX_FORCE_INLINE	pointInShape (const PxGeometry &geometry, const PxTransform &transform, const PxVec3 &p)
bool	projectionCallback (PxReal targetDistance, const PxGeometry &geometry, const PxTransform &transform, PxReal boundingBoxDiagonalLength, const PxVec3 &p, const PxVec3 &n, PointWithNormal &result)
PxVec3	randomDirection (BasicRandom &rnd)
PxVec3	getPerpendicularVectorNormalized (const PxVec3 &dir)
PxVec3	randomPointOnDisc (BasicRandom &rnd, const PxVec3 &point, const PxVec3 &normal, PxReal radius, PxReal rUpper)
bool	samplePointInBallOnSurface (BasicRandom &rnd, const PxGeometry &shape, const PxTransform &actorGlobalPose, const PxReal diagonalLength, const PxVec3 &point, const PxVec3 &normal, PxReal radius, PointWithNormal &sample, PxI32 numAttempts=30)
template<typename T , PxU32 i>
int	process (PxU32 *stack, PxU32 &stackSize, const Gu::BVDataSwizzledNQ *node, T &callback)
template<typename T >
void	traverseBVH (const Gu::BV4Tree &tree, T &callback)
template<typename TJointType >
TJointType *	createJoint (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxD6Joint *	createJoint< PxD6Joint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxDistanceJoint *	createJoint< PxDistanceJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxContactJoint *	createJoint< PxContactJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxFixedJoint *	createJoint< PxFixedJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxPrismaticJoint *	createJoint< PxPrismaticJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxRevoluteJoint *	createJoint< PxRevoluteJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
template<>
PxSphericalJoint *	createJoint< PxSphericalJoint > (PxPhysics &physics, PxRigidActor *actor0, const PxTransform &localFrame0, PxRigidActor *actor1, const PxTransform &localFrame1)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const char *inString)
template<typename TDataType >
PxOutputStream &	toStream (PxOutputStream &ioStream, const char *inFormat, const TDataType inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, bool inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxI32 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxU16 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxU8 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, char inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxU32 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxU64 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const void *inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxF32 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, PxF64 inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, endl_obj)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const PxVec3 &inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const PxQuat &inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const PxTransform &inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const PxBounds3 &inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, const PxFilterData &inData)
PxOutputStream &	operator<< (PxOutputStream &ioStream, struct PxMetaDataPlane &inData)
template<typename TTriIndexElem >
void	writeTriangle (MemoryBuffer &inTempBuffer, const Triangle< TTriIndexElem > &inTriangle)
PxU32	materialAccess (const PxTriangleMesh *inMesh, PxU32 inIndex)
template<typename TDataType >
void	writeDatatype (MemoryBuffer &inTempBuffer, const TDataType &inType)
template<typename TObjType , typename TOperator >
PxU32	visitAllProperties (TOperator inOperator)
template<typename TObjType , typename TOperator >
void	visitInstanceProperties (TOperator inOperator)
void	SetMFrictionVsSlipGraph (PxVehicleTireData *inTireData, PxU32 idx1, PxU32 idx2, PxReal val)
PxReal	GetMFrictionVsSlipGraph (const PxVehicleTireData *inTireData, PxU32 idx1, PxU32 idx2)
PxU32	GetNbWheels (const PxVehicleWheels *inStats)
PxU32	GetNbTorqueCurvePair (const PxVehicleEngineData *inStats)
PxReal	getXTorqueCurvePair (const PxVehicleEngineData *inStats, PxU32 index)
PxReal	getYTorqueCurvePair (const PxVehicleEngineData *inStats, PxU32 index)
void	addTorqueCurvePair (PxVehicleEngineData *inStats, const PxReal x, const PxReal y)
void	clearTorqueCurvePair (PxVehicleEngineData *inStats)
void	setVehicleToleranceScale (const PxTolerancesScale &ts)
void	resetVehicleToleranceScale ()
void	setSerializationRegistryPtr (const PxSerializationRegistry *sr)
const PxSerializationRegistry *	resetSerializationRegistryPtr ()
void	setVehicleDefaults ()
template<typename TVehicleType >
void *	createVehicle (PxPhysics &physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &driveData, const PxVehicleDriveSimDataNW &driveDataNW, const PxU32 numWheels, const PxU32 numNonDrivenWheels)
template<>
void *	createVehicle< PxVehicleDrive4W > (PxPhysics &physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &driveData, const PxVehicleDriveSimDataNW &, const PxU32 numWheels, const PxU32 numNonDrivenWheels)
template<>
void *	createVehicle< PxVehicleDriveTank > (PxPhysics &physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &driveData, const PxVehicleDriveSimDataNW &, const PxU32 numWheels, const PxU32 numNonDrivenWheels)
template<>
void *	createVehicle< PxVehicleDriveNW > (PxPhysics &physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &, const PxVehicleDriveSimDataNW &driveDataNW, const PxU32 numWheels, const PxU32 numNonDrivenWheels)
template<>
void *	createVehicle< PxVehicleNoDrive > (PxPhysics &physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &, const PxVehicleDriveSimDataNW &, const PxU32 numWheels, const PxU32)
void	PxVehicleComputeTireForceDefault (const void *shaderData, const PxF32 tireFriction, const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber, const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius, const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad, const PxF32 gravity, const PxF32 recipGravity, PxF32 &wheelTorque, PxF32 &tireLongForceMag, PxF32 &tireLatForceMag, PxF32 &tireAlignMoment)
	Default implementation of PxVehicleComputeTireForce.
	PX_COMPILE_TIME_ASSERT ((0==(sizeof(PxVehicleWheels4DynData::SuspLineSweep) &0x0f)))
	PX_COMPILE_TIME_ASSERT (sizeof(PxVehicleWheels4DynData::SuspLineRaycast)<=sizeof(PxVehicleWheels4DynData::SuspLineSweep))
	PX_COMPILE_TIME_ASSERT (sizeof(PxVehicleWheels4DynData::CachedSuspLineSceneQuerytHitResult)<=sizeof(PxVehicleWheels4DynData::SuspLineSweep))
PX_FORCE_INLINE PxU32	computeByteSize (const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes)
void	computeSprungMasses (const PxU32 numSprungMasses, const PxVec3 *sprungMassCoordinates, const PxVec3 &centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal *sprungMasses)
void	computeDirection (const PxVec3 &up, const PxVec3 &right, PxU32 &rightDirection, PxU32 &upDirection)
void	enable3WMode (const PxU32 rightDirection, const PxU32 upDirection, const bool removeFrontWheel, PxVehicleWheelsSimData &wheelsSimData, PxVehicleWheelsDynData &wheelsDynData, PxVehicleDriveSimData4W &driveSimData)
PX_FORCE_INLINE void	START_TIMER (const PxU32)
PX_FORCE_INLINE void	END_TIMER (const PxU32)
PX_INLINE void	integrateBody (const PxF32 inverseMass, const PxVec3 &invInertia, const PxVec3 &force, const PxVec3 &torque, const PxF32 dt, PxVec3 &v, PxVec3 &w, PxTransform &t)
PX_FORCE_INLINE PxF32	computeSign (const PxF32 f)
PX_FORCE_INLINE void	getVehicle4WControlValues (const PxVehicleDriveDynData &driveDynData, PxF32 &accel, PxF32 &brake, PxF32 &handbrake, PxF32 &steerLeft, PxF32 &steerRight)
PX_FORCE_INLINE void	getVehicleNWControlValues (const PxVehicleDriveDynData &driveDynData, PxF32 &accel, PxF32 &brake, PxF32 &handbrake, PxF32 &steerLeft, PxF32 &steerRight)
PX_FORCE_INLINE void	getTankControlValues (const PxVehicleDriveDynData &driveDynData, PxF32 &accel, PxF32 &brakeLeft, PxF32 &brakeRight, PxF32 &thrustLeft, PxF32 &thrustRight)
PX_FORCE_INLINE PxF32	processAutoBox (const PxU32 accelIndex, const PxF32 timestep, const PxVehicleDriveSimData &vehCoreSimData, PxVehicleDriveDynData &vehDynData)
void	processGears (const PxF32 timestep, const PxVehicleGearsData &gears, PxVehicleDriveDynData &car)
PX_FORCE_INLINE PxF32	computeGearRatio (const PxVehicleGearsData &gearsData, const PxU32 currentGear)
PX_FORCE_INLINE PxF32	computeEngineDriveTorque (const PxVehicleEngineData &engineData, const PxF32 omega, const PxF32 accel)
PX_FORCE_INLINE PxF32	computeEngineDampingRate (const PxVehicleEngineData &engineData, const PxU32 gear, const PxF32 accel)
PX_FORCE_INLINE PxF32	computeClutchStrength (const PxVehicleClutchData &clutchData, const PxU32 currentGear)
PX_FORCE_INLINE void	splitTorque (const PxF32 w1, const PxF32 w2, const PxF32 diffBias, const PxF32 defaultSplitRatio, PxF32 *t1, PxF32 *t2)
PX_FORCE_INLINE void	computeDiffTorqueRatios (const PxVehicleDifferential4WData &diffData, const PxF32 handbrake, const PxF32 *PX_RESTRICT wheelOmegas, PxF32 *PX_RESTRICT diffTorqueRatios)
PX_FORCE_INLINE void	computeDiffAveWheelSpeedContributions (const PxVehicleDifferential4WData &diffData, const PxF32 handbrake, PxF32 *PX_RESTRICT diffAveWheelSpeedContributions)
void	computeTankDiff (const PxF32 thrustLeft, const PxF32 thrustRight, const PxU32 numActiveWheels, const bool *activeWheelStates, PxF32 *aveWheelSpeedContributions, PxF32 *diffTorqueRatios, PxF32 *wheelGearings)
void	computeIsAccelApplied (const PxF32 *aveWheelSpeedContributions, bool *isAccelApplied)
PX_FORCE_INLINE void	computeAckermannSteerAngles (const PxF32 steer, const PxF32 steerGain, const PxF32 ackermannAccuracy, const PxF32 width, const PxF32 axleSeparation, PxF32 *PX_RESTRICT leftAckermannSteerAngle, PxF32 *PX_RESTRICT rightAckermannSteerAngle)
PX_FORCE_INLINE void	computeAckermannCorrectedSteerAngles (const PxVehicleDriveSimData4W &driveSimData, const PxVehicleWheels4SimData &wheelsSimData, const PxF32 steer, PxF32 *PX_RESTRICT steerAngles)
PX_FORCE_INLINE void	computeWheelActiveStates (const PxU32 startId, PxU32 *bitmapBuffer, bool *activeStates)
PX_FORCE_INLINE void	computeNoDriveBrakeTorques (const PxVehicleWheelData *PX_RESTRICT wheelDatas, const PxF32 *PX_RESTRICT wheelOmegas, const PxF32 *PX_RESTRICT rawBrakeTroques, PxF32 *PX_RESTRICT brakeTorques, bool *PX_RESTRICT isBrakeApplied)
PX_FORCE_INLINE void	computeBrakeAndHandBrakeTorques (const PxVehicleWheelData *PX_RESTRICT wheelDatas, const PxF32 *PX_RESTRICT wheelOmegas, const PxF32 brake, const PxF32 handbrake, PxF32 *PX_RESTRICT brakeTorques, bool *isBrakeApplied)
PX_FORCE_INLINE void	computeTankBrakeTorques (const PxVehicleWheelData *PX_RESTRICT wheelDatas, const PxF32 *PX_RESTRICT wheelOmegas, const PxF32 brakeLeft, const PxF32 brakeRight, PxF32 *PX_RESTRICT brakeTorques, bool *isBrakeApplied)
PX_FORCE_INLINE PxF32	computeFilteredNormalisedTireLoad (const PxVehicleTireLoadFilterData &filterData, const PxF32 normalisedLoad)
PX_FORCE_INLINE void	computeTireDirs (const PxVec3 &chassisLatDir, const PxVec3 &hitNorm, const PxF32 wheelSteerAngle, PxVec3 &tireLongDir, PxVec3 &tireLatDir)
PX_FORCE_INLINE void	computeTireSlips (const PxF32 longSpeed, const PxF32 latSpeed, const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 maxDenominator, const bool isAccelApplied, const bool isBrakeApplied, const bool isTank, PxF32 &longSlip, PxF32 &latSlip)
PX_FORCE_INLINE void	computeTireFriction (const PxVehicleTireData &tireData, const PxF32 longSlip, const PxF32 frictionMultiplier, PxF32 &friction)
PX_FORCE_INLINE void	updateLowForwardSpeedTimer (const PxF32 longSpeed, const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius, const bool isIntentionToAccelerate, const PxF32 timestep, PxF32 &lowForwardSpeedTime)
PX_FORCE_INLINE void	updateLowSideSpeedTimer (const PxF32 latSpeed, const bool isIntentionToAccelerate, const PxF32 timestep, PxF32 &lowSideSpeedTime)
PX_FORCE_INLINE void	activateStickyFrictionForwardConstraint (const PxF32 longSpeed, const PxF32 wheelOmega, const PxF32 lowForwardSpeedTime, const bool isIntentionToAccelerate, bool &stickyTireActiveFlag, PxF32 &stickyTireTargetSpeed)
PX_FORCE_INLINE void	activateStickyFrictionSideConstraint (const PxF32 latSpeed, const PxF32 lowSpeedForwardTimer, const PxF32 lowSideSpeedTimer, const bool isIntentionToAccelerate, bool &stickyTireActiveFlag, PxF32 &stickyTireTargetSpeed)
PX_FORCE_INLINE PxF32	smoothingFunction1 (const PxF32 K)
PX_FORCE_INLINE PxF32	smoothingFunction2 (const PxF32 K)
void	procesAntiRollSuspension (const PxVehicleWheelsSimData &wheelsSimData, const PxTransform &carChassisTransform, const PxWheelQueryResult *wheelQueryResults, PxVec3 &chassisTorque)
void	updateLowSpeedTimers (const PxF32 *PX_RESTRICT newLowSpeedTimers, PxF32 *PX_RESTRICT lowSpeedTimers)
void	updateJounces (const PxF32 *PX_RESTRICT jounces, PxF32 *PX_RESTRICT prevJounces)
void	updateSteers (const PxF32 *PX_RESTRICT steerAngles, PxF32 *PX_RESTRICT prevSteers)
void	updateCachedHitData (const PxU32 *PX_RESTRICT cachedHitCounts, const PxPlane *PX_RESTRICT cachedHitPlanes, const PxF32 *PX_RESTRICT cachedHitDistances, const PxF32 *PX_RESTRICT cachedFrictionMultipliers, const PxU16 *cachedQueryTypes, PxVehicleWheels4DynData *wheels4DynData)
void	solveDrive4WInternaDynamicsEnginePlusDrivenWheels (const ImplicitSolverInput &input, ImplicitSolverOutput *output)
void	solveDriveNWInternalDynamicsEnginePlusDrivenWheels (const ImplicitSolverInput &input, ImplicitSolverOutput *output)
void	solveTankInternaDynamicsEnginePlusDrivenWheels (const ImplicitSolverInput &input, const bool *PX_RESTRICT activeWheelStates, const PxF32 *PX_RESTRICT wheelGearings, ImplicitSolverOutput *output)
void	integrateNoDriveWheelSpeeds (const PxF32 subTimestep, const PxF32 *PX_RESTRICT brakeTorques, const bool *PX_RESTRICT isBrakeApplied, const PxF32 *driveTorques, const PxF32 *PX_RESTRICT tireTorques, const PxF32 *PX_RESTRICT dampingRates, const PxVehicleWheels4SimData &vehSuspWheelTire4SimData, PxVehicleWheels4DynData &vehSuspWheelTire4)
void	integrateUndriveWheelRotationSpeeds (const PxF32 subTimestep, const PxF32 brake, const PxF32 handbrake, const PxF32 *PX_RESTRICT tireTorques, const PxF32 *PX_RESTRICT brakeTorques, const PxVehicleWheels4SimData &vehSuspWheelTire4SimData, PxVehicleWheels4DynData &vehSuspWheelTire4)
void	integrateWheelRotationAngles (const PxF32 timestep, const PxF32 K, const PxF32 G, const PxF32 engineDriveTorque, const PxF32 *PX_RESTRICT jounces, const PxF32 *PX_RESTRICT diffTorqueRatios, const PxF32 *PX_RESTRICT forwardSpeeds, const bool *isBrakeApplied, const PxVehicleDriveSimData &vehCoreSimData, const PxVehicleWheels4SimData &vehSuspWheelTire4SimData, PxVehicleDriveDynData &vehCore, PxVehicleWheels4DynData &vehSuspWheelTire4)
void	integrateNoDriveWheelRotationAngles (const PxF32 timestep, const PxF32 *PX_RESTRICT driveTorques, const PxF32 *PX_RESTRICT jounces, const PxF32 *PX_RESTRICT forwardSpeeds, const bool *isBrakeApplied, const PxVehicleWheels4SimData &vehSuspWheelTire4SimData, PxVehicleWheels4DynData &vehSuspWheelTire4)
PxQuat	computeWheelLocalQuat (const PxVec3 &forwardAxis, const PxVec3 &sideAxis, const PxVec3 &upAxis, const float jounce, const PxVehicleSuspensionData &suspData, const PxF32 rotationAngle, const PxF32 steerAngle)
void	computeWheelLocalPoses (const PxVehicleWheels4SimData &wheelsSimData, const PxVehicleWheels4DynData &wheelsDynData, const PxWheelQueryResult *wheelQueryResults, const PxU32 numWheelsToPose, const PxTransform &vehChassisCMLocalPose, const PxVec3 &upAxis, const PxVec3 &sideAxis, const PxVec3 &forwardAxis, PxTransform *localPoses)
void	computeWheelLocalPoseRotations (const PxVehicleWheels4DynData *wheels4DynDatas, const PxVehicleWheels4SimData *wheels4SimDatas, const PxU32 numWheels4, const PxVehicleContext &context, const float *steerAngles, PxQuat *wheelLocalPoseRotations)
void	poseWheels (const PxVehicleWheels4SimData &wheelsSimData, const PxTransform *localPoses, const PxU32 numWheelsToPose, PxRigidDynamic *vehActor)
PxF32	processDigitalValue (const PxU32 inputType, const PxVehicleKeySmoothingData &keySmoothing, const bool digitalValue, const PxF32 timestep, const PxF32 analogVal)
PX_FORCE_INLINE PxF32	processPositiveAnalogValue (const PxF32 riseRate, const PxF32 fallRate, const PxF32 currentVal, const PxF32 targetVal, const PxF32 timestep)
PX_FORCE_INLINE PxF32	processAnalogValue (const PxF32 riseRate, const PxF32 fallRate, const PxF32 currentVal, const PxF32 targetVal, const PxF32 timestep)
bool	areEqual (const PxQuat &q0, const PxQuat &q1)
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxMax (float a, float b)
	overload for float to use fsel on xbox
template<>
PX_CUDA_CALLABLE PX_FORCE_INLINE float	PxMin (float a, float b)
	overload for float to use fsel on xbox

Variables
PX_DEPRECATED typedef void(*	PxVehicleComputeTireForce )(const void *shaderData, const PxF32 tireFriction, const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber, const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius, const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad, const PxF32 gravity, const PxF32 recipGravity, PxF32 &wheelTorque, PxF32 &tireLongForceMag, PxF32 &tireLatForceMag, PxF32 &tireAlignMoment)
	Prototype of shader function that is used to compute wheel torque and tire forces.
struct PX_FOUNDATION_API physx::PxSListImpl	PX_ALIGN_SUFFIX
physx::PxProfilerCallback *	gProfilerCallback = NULL
const aos::BoolV	boxVertexTable [8]
PxvOffsetTable	gPxvOffsetTable
PxcContactMethod	g_ContactMethodTable [][PxGeometryType::eGEOMETRY_COUNT]
const bool	g_CanUseContactCache [][PxGeometryType::eGEOMETRY_COUNT]
PxcContactMethod	g_PCMContactMethodTable [][PxGeometryType::eGEOMETRY_COUNT]
bool	gEnablePCMCaching [][PxGeometryType::eGEOMETRY_COUNT]
PxcGetMaterialMethod	g_GetMaterialMethodTable [][PxGeometryType::eGEOMETRY_COUNT]
PxcGetSingleMaterialMethod	g_GetSingleMaterialMethodTable [PxGeometryType::eGEOMETRY_COUNT]
	index0
PxF32	gToleranceScaleLength =0
PxF32	gThresholdForwardSpeedForWheelAngleIntegration =0
PxF32	gRecipThresholdForwardSpeedForWheelAngleIntegration =0
PxF32	gMinLatSpeedForTireModel =0
PxF32	gStickyTireFrictionThresholdSpeed =0
PxF32	gMinimumSlipThreshold =0
const PxSerializationRegistry *	gSerializationRegistry =NULL
const PxF32	gStickyTireFrictionForwardDamping =0.01f
const PxF32	gStickyTireFrictionSideDamping =0.1f
const PxF32	gLowForwardSpeedThresholdTime =1.0f
const PxF32	gLowSideSpeedThresholdTime =1.0f
const PxF32	gSolverTolerance = 1e-10f
PxF32	gThresholdLongSpeed =5.0f
PxU32	gLowLongSpeedSubstepCount =3
PxU32	gHighLongSpeedSubstepCount =1
PxF32	gMinLongSlipDenominator =4.0f
const int	EOL = -1

Detailed Description

Sorts an array of objects in ascending order, assuming that the predicate implements the < operator:

Represents a sphere defined by its center point and radius.

Representation of a plane.

4 Element vector class.

files to always include

Allocate aligned memory. Alignment must be a power of 2! – should be templated by a base allocator

Central definition of hash functions

See also

PxLess, PxGreater

This is a 4-dimensional vector class with public data members.

Combination of two R3 vectors.

Plane equation used: a*x + b*y + c*z + d = 0

Typedef Documentation

PxActorCacheFlags

typedef PxFlags<PxActorCacheFlag::Enum, PxU16> physx::PxActorCacheFlags

Collection of set bits defined in PxActorCacheFlag.

See also

PxActorCacheFlag

PxActorFlags

typedef PxFlags<PxActorFlag::Enum,PxU8> physx::PxActorFlags

collection of set bits defined in PxActorFlag.

See also

PxActorFlag

PxActorTypeFlags

typedef PxFlags<PxActorTypeFlag::Enum,PxU16> physx::PxActorTypeFlags

Collection of set bits defined in PxActorTypeFlag.

See also

PxActorTypeFlag

PxAgain

typedef bool physx::PxAgain

Describes query behavior after returning a partial query result via a callback.

If callback returns true, traversal will continue and callback can be issued again. If callback returns false, traversal will stop, callback will not be issued again.

See also

PxHitCallback

PxBinaryMetaDataCallback

typedef PX_DEPRECATED void(* physx::PxBinaryMetaDataCallback) (PxOutputStream &stream)

Callback type for exporting binary meta data for a serializable type.

Deprecated:

Binary conversion and binary meta data are deprecated.

See also

PxSerializationRegistry::registerBinaryMetaDataCallback

Parameters

stream

Stream to store binary meta data.

PxBVHStructure

typedef PX_DEPRECATED PxBVH physx::PxBVHStructure

Deprecated:

PxBVHStructureDesc

typedef PX_DEPRECATED PxBVHDesc physx::PxBVHStructureDesc

Deprecated:

PxcContactMethod

typedef bool(* physx::PxcContactMethod) (GU_CONTACT_METHOD_ARGS)

Method prototype for contact generation routines

PxcGetMaterialMethod

typedef void(* physx::PxcGetMaterialMethod) (MATERIAL_METHOD_ARGS)

Method prototype for fetch material routines

PxClientID

typedef PxU8 physx::PxClientID

An ID to identify different clients for multiclient support.

See also

PxScene::createClient()

PxConstraintFlags

typedef PxFlags<PxConstraintFlag::Enum, PxU16> physx::PxConstraintFlags

constraint flags

See also

PxConstraintFlag

PxConstraintProject

typedef PX_DEPRECATED void(* physx::PxConstraintProject) (const void *constantBlock, PxTransform &bodyAToWorld, PxTransform &bodyBToWorld, bool projectToA)

Solver constraint projection shader.

This function is called by the constraint post-solver framework. The function must be reentrant, since it may be called simultaneously from multiple threads and should access only the arguments passed into it.

Parameters

[in]	constantBlock	The constant data block
[out]	bodyAToWorld	The center of mass frame of the first constrained body (the identity if the actor is static or a NULL pointer was provided for it)
[out]	bodyBToWorld	The center of mass frame of the second constrained body (the identity if the actor is static or a NULL pointer was provided for it)
[in]	projectToA	True if the constraint should be projected by moving the second body towards the first, false if the converse

Deprecated:

PxConstraintSolverPrep

typedef PxU32(* physx::PxConstraintSolverPrep) (Px1DConstraint *constraints, PxVec3p &bodyAWorldOffset, PxU32 maxConstraints, PxConstraintInvMassScale &invMassScale, const void *constantBlock, const PxTransform &bodyAToWorld, const PxTransform &bodyBToWorld, bool useExtendedLimits, PxVec3p &cAtW, PxVec3p &cBtW)

Solver constraint generation shader.

This function is called by the constraint solver framework. The function must be reentrant, since it may be called simultaneously from multiple threads, and should access only the arguments passed into it.

Developers writing custom constraints are encouraged to read the documentation in the user guide and the implementation code in PhysXExtensions.

Parameters

[out]	constraints	An array of solver constraint rows to be filled in
[out]	bodyAWorldOffset	The origin point (offset from the position vector of bodyA's center of mass) at which the constraint is resolved. This value does not affect how constraints are solved, only the constraint force reported.
[in]	maxConstraints	The size of the constraint buffer. At most this many constraints rows may be written
[out]	invMassScale	The inverse mass and inertia scales for the constraint
[in]	constantBlock	The constant data block
[in]	bodyAToWorld	The center of mass frame of the first constrained body (the identity transform if the first actor is static, or if a NULL actor pointer was provided for it)
[in]	bodyBToWorld	The center of mass frame of the second constrained body (the identity transform if the second actor is static, or if a NULL actor pointer was provided for it)
[in]	useExtendedLimits	Enables limit ranges outside of (-PI, PI)
[out]	cAtW	The world space location of body A's joint frame (position only)
[out]	cBtW	The world space location of body B's joint frame (position only)

Returns

the number of constraint rows written.

PxConstraintVisualize

typedef void(* physx::PxConstraintVisualize) (PxConstraintVisualizer &visualizer, const void *constantBlock, const PxTransform &body0Transform, const PxTransform &body1Transform, PxU32 flags)

Solver constraint visualization function.

This function is called by the constraint post-solver framework to visualize the constraint

Parameters

[out]	visualizer	The render buffer to render to
[in]	constantBlock	The constant data block
[in]	body0Transform	The center of mass frame of the first constrained body (the identity if the actor is static, or a NULL pointer was provided for it)
[in]	body1Transform	The center of mass frame of the second constrained body (the identity if the actor is static, or a NULL pointer was provided for it)
[in]	flags	The visualization flags (PxConstraintVisualizationFlag)

See also

PxRenderBuffer

PxContactPairFlags

typedef PxFlags<PxContactPairFlag::Enum, PxU16> physx::PxContactPairFlags

Bitfield that contains a set of raised flags defined in PxContactPairFlag.

See also

PxContactPairFlag

PxContactPairHeaderFlags

typedef PxFlags<PxContactPairHeaderFlag::Enum, PxU16> physx::PxContactPairHeaderFlags

Bitfield that contains a set of raised flags defined in PxContactPairHeaderFlag.

See also

PxContactPairHeaderFlag

PxControllerBehaviorFlags

typedef PxFlags<PxControllerBehaviorFlag::Enum, PxU8> physx::PxControllerBehaviorFlags

Bitfield that contains a set of raised flags defined in PxControllerBehaviorFlag.

See also

PxControllerBehaviorFlag

PxControllerCollisionFlags

typedef PxFlags<PxControllerCollisionFlag::Enum, PxU8> physx::PxControllerCollisionFlags

Bitfield that contains a set of raised flags defined in PxControllerCollisionFlag.

See also

PxControllerCollisionFlag

PxControllerDebugRenderFlags

typedef PxFlags<PxControllerDebugRenderFlag::Enum, PxU32> physx::PxControllerDebugRenderFlags

Bitfield that contains a set of raised flags defined in PxControllerDebugRenderFlag.

See also

PxControllerDebugRenderFlag

PxConvexFlags

typedef PxFlags<PxConvexFlag::Enum,PxU16> physx::PxConvexFlags

collection of set bits defined in PxConvexFlag.

See also

PxConvexFlag

PxConvexMeshGeometryFlags

typedef PxFlags<PxConvexMeshGeometryFlag::Enum,PxU8> physx::PxConvexMeshGeometryFlags

collection of set bits defined in PxConvexMeshGeometryFlag.

See also

PxConvexMeshGeometryFlag

PxDataAccessFlags

typedef PxFlags<PxDataAccessFlag::Enum,PxU8> physx::PxDataAccessFlags

collection of set bits defined in PxDataAccessFlag.

See also

PxDataAccessFlag

PxDeletionEventFlags

typedef PxFlags<PxDeletionEventFlag::Enum,PxU8> physx::PxDeletionEventFlags

Collection of set bits defined in PxDeletionEventFlag.

See also

PxDeletionEventFlag

PxFilterFlags

typedef PxFlags<PxFilterFlag::Enum, PxU16> physx::PxFilterFlags

Bitfield that contains a set of raised flags defined in PxFilterFlag.

See also

PxFilterFlag

PxFilterObjectAttributes

typedef PxU32 physx::PxFilterObjectAttributes

Structure which gets passed into the collision filtering shader and/or callback providing additional information on objects of a collision pair.

See also

PxSimulationFilterShader PxSimulationFilterCallback getActorType() PxFilterObjectIsKinematic() PxFilterObjectIsTrigger()

PxHeightFieldFlags

typedef PxFlags<PxHeightFieldFlag::Enum,PxU16> physx::PxHeightFieldFlags

collection of set bits defined in PxHeightFieldFlag.

See also

PxHeightFieldFlag

PxMaterialFlags

typedef PxFlags<PxMaterialFlag::Enum,PxU16> physx::PxMaterialFlags

collection of set bits defined in PxMaterialFlag.

See also

PxMaterialFlag

PxMeshFlags

typedef PxFlags<PxMeshFlag::Enum,PxU16> physx::PxMeshFlags

collection of set bits defined in PxMeshFlag.

See also

PxMeshFlag

PxMeshGeometryFlags

typedef PxFlags<PxMeshGeometryFlag::Enum,PxU8> physx::PxMeshGeometryFlags

collection of set bits defined in PxMeshGeometryFlag.

See also

PxMeshGeometryFlag

PxPairFlags

typedef PxFlags<PxPairFlag::Enum, PxU16> physx::PxPairFlags

Bitfield that contains a set of raised flags defined in PxPairFlag.

See also

PxPairFlag

PxPvdInstrumentationFlags

typedef PxFlags<PxPvdInstrumentationFlag::Enum, uint8_t> physx::PxPvdInstrumentationFlags

Bitfield that contains a set of raised flags defined in PxPvdInstrumentationFlag.

See also

PxPvdInstrumentationFlag

PxPvdSceneFlags

typedef PxFlags<PxPvdSceneFlag::Enum, PxU8> physx::PxPvdSceneFlags

Bitfield that contains a set of raised flags defined in PxPvdSceneFlag.

See also

PxPvdSceneFlag

PxRigidBodyFlags

typedef PxFlags<PxRigidBodyFlag::Enum,PxU16> physx::PxRigidBodyFlags

collection of set bits defined in PxRigidBodyFlag.

See also

PxRigidBodyFlag

PxSceneFlags

typedef PxFlags<PxSceneFlag::Enum,PxU32> physx::PxSceneFlags

collection of set bits defined in PxSceneFlag.

See also

PxSceneFlag

PxShapeFlags

typedef PxFlags<PxShapeFlag::Enum,PxU8> physx::PxShapeFlags

collection of set bits defined in PxShapeFlag.

See also

PxShapeFlag

PxSimulationFilterShader

typedef PxFilterFlags(* physx::PxSimulationFilterShader) (PxFilterObjectAttributes attributes0, PxFilterData filterData0, PxFilterObjectAttributes attributes1, PxFilterData filterData1, PxPairFlags &pairFlags, const void *constantBlock, PxU32 constantBlockSize)

Filter method to specify how a pair of potentially colliding objects should be processed.

Collision filtering is a mechanism to specify how a pair of potentially colliding objects should be processed by the simulation. A pair of objects is potentially colliding if the bounding volumes of the two objects overlap. In short, a collision filter decides whether a collision pair should get processed, temporarily ignored or discarded. If a collision pair should get processed, the filter can additionally specify how it should get processed, for instance, whether contacts should get resolved, which callbacks should get invoked or which reports should be sent etc. The function returns the PxFilterFlag flags and sets the PxPairFlag flags to define what the simulation should do with the given collision pair.

Note

A default implementation of a filter shader is provided in the PhysX extensions library, see PxDefaultSimulationFilterShader.

This methods gets called when:

• The bounding volumes of two objects start to overlap.
• The bounding volumes of two objects overlap and the filter data or filter attributes of one of the objects changed
• A re-filtering was forced through resetFiltering() (see PxScene::resetFiltering())
• Filtering is requested in scene queries

Note

Certain pairs of objects are always ignored and this method does not get called. This is the case for the following pairs:

• Pair of static rigid actors
• A static rigid actor and a kinematic actor (unless one is a trigger or if explicitly enabled through PxPairFilteringMode::eKEEP)
• Two kinematic actors (unless one is a trigger or if explicitly enabled through PxPairFilteringMode::eKEEP)
• Two jointed rigid bodies and the joint was defined to disable collision
• Two articulation links if connected through an articulation joint

Note

This is a performance critical method and should be stateless. You should neither access external objects from within this method nor should you call external methods that are not inlined. If you need a more complex logic to filter a collision pair then use the filter callback mechanism for this pair (see #PxSimulationFilterCallback, PxFilterFlag::eCALLBACK, PxFilterFlag::eNOTIFY).

Parameters

[in]	attributes0	The filter attribute of the first object
[in]	filterData0	The custom filter data of the first object
[in]	attributes1	The filter attribute of the second object
[in]	filterData1	The custom filter data of the second object
[out]	pairFlags	Flags giving additional information on how an accepted pair should get processed
[in]	constantBlock	The constant global filter data (see PxSceneDesc.filterShaderData)
[in]	constantBlockSize	Size of the global filter data (see PxSceneDesc.filterShaderDataSize)

Returns

Filter flags defining whether the pair should be discarded, temporarily ignored, processed and whether the filter callback should get invoked for this pair.

See also

PxSimulationFilterCallback PxFilterData PxFilterObjectAttributes PxFilterFlag PxFilterFlags PxPairFlag PxPairFlags PxSceneDesc.filterShader

PxTetrahedronMeshFlags

typedef PxFlags<PxTetrahedronMeshFlag::Enum, PxU8> physx::PxTetrahedronMeshFlags

collection of set bits defined in PxTetrahedronMeshFlag.

See also

PxTetrahedronMeshFlag

PxTriangleMeshFlags

typedef PxFlags<PxTriangleMeshFlag::Enum,PxU8> physx::PxTriangleMeshFlags

collection of set bits defined in PxTriangleMeshFlag.

See also

PxTriangleMeshFlag

PxTriggerPairFlags

typedef PxFlags<PxTriggerPairFlag::Enum, PxU8> physx::PxTriggerPairFlags

Bitfield that contains a set of raised flags defined in PxTriggerPairFlag.

See also

PxTriggerPairFlag

PxVehicleWheelsSimFlags

typedef PxFlags<PxVehicleWheelsSimFlag::Enum, PxU32> physx::PxVehicleWheelsSimFlags

Collection of set bits defined in #PxVehicleWheelsSimFlag.

See also

PxVehicleWheelsSimFlag

Enumeration Type Documentation

PxEMPTY [1/2]

enum physx::PxEMPTY

enum for empty constructor tag

PxEMPTY [2/2]

enum physx::PxEMPTY

enum for empty constructor tag

PxIDENTITY [1/2]

enum physx::PxIDENTITY

enum for identity constructor flag for quaternions, transforms, and matrices

PxIDENTITY [2/2]

enum physx::PxIDENTITY

enum for identity constructor flag for quaternions, transforms, and matrices

PxScenePrunerIndex

enum physx::PxScenePrunerIndex

Built-in enum for default PxScene pruners.

This is passed as a pruner index to various functions in the following APIs.

See also

PxSceneQuerySystemBase::forceRebuildDynamicTree PxSceneQuerySystem::preallocate

PxSceneQuerySystem::visualize PxSceneQuerySystem::sync PxSceneQuerySystem::prepareSceneQueryBuildStep

PxvContactManagerCCDMode

enum physx::PxvContactManagerCCDMode

Type of PXD_MANAGER_CCD_MODE property

PxZERO [1/2]

enum physx::PxZERO

enum for zero constructor tag for vectors and matrices

PxZERO [2/2]

enum physx::PxZERO

enum for zero constructor tag for vectors and matrices

Function Documentation

CubemapLookup()

PX_INLINE CubeIndex physx::CubemapLookup	(	const PxVec3 &	direction,
		float &	u,
		float &	v
	)

Cubemap lookup function.

To transform returned uvs into mapping coordinates : u += 1.0f; u *= 0.5f; v += 1.0f; v *= 0.5f;

Parameters

direction	[in] a direction vector
u	[out] impact coordinate on the unit cube, in [-1,1]
v	[out] impact coordinate on the unit cube, in [-1,1]

Returns

cubemap texture index

PX_ALIGN_PREFIX() [1/2]

struct physx::PX_ALIGN_PREFIX

(

16

)

A generic padded & aligned transform class.

This can be used for safe faster loads & stores, and faster address computations (the default PxTransformT often generating imuls for this otherwise). Padding bytes can be reused to store useful data if needed.

PX_ALIGN_PREFIX() [2/2]

struct physx::PX_ALIGN_PREFIX

(

8

)

Holds all the information for a spring constraint between two particles. Used for particle cloth simulation.

< particle index of first particle

< particle index of second particle

< spring length

< spring stiffness

< spring damping factor

< padding bytes.

PxCloneDynamic()

PxRigidDynamic * physx::PxCloneDynamic	(	PxPhysics &	physicsSDK,
		const PxTransform &	transform,
		const PxRigidDynamic &	body
	)

create a dynamic body by copying attributes from an existing body

The following properties are copied:

• shapes
• actor flags, rigidDynamic flags and rigidDynamic lock flags
• mass, moment of inertia, and center of mass frame
• linear and angular velocity
• linear and angular damping
• maximum linear velocity
• maximum angular velocity
• position and velocity solver iterations
• maximum depenetration velocity
• sleep threshold
• contact report threshold
• dominance group
• owner client and client behavior bits
• name pointer
• kinematic target

The following are not copied and retain their default values:

• name
• joints or observers
• aggregate or scene membership
• sleep timer
• user data

Note

Transforms are not copied with bit-exact accuracy.

Parameters

[in]	physicsSDK	PxPhysics - the physics SDK used to allocate the rigid static
[in]	body	the rigid dynamic to clone.
[in]	transform	the transform of the new dynamic

Returns

the newly-created rigid static

PxCloneShape()

PxShape * physx::PxCloneShape	(	PxPhysics &	physicsSDK,
		const PxShape &	shape,
		bool	isExclusive
	)

create a shape by copying attributes from another shape

The function clones a PxShape. The following properties are copied:

• geometry
• flags
• materials
• actor-local pose
• contact offset
• rest offset
• simulation filter data
• query filter data
• torsional patch radius
• minimum torsional patch radius

The following are not copied and retain their default values:

• name
• user data

Parameters

[in]	physicsSDK	- the physics SDK used to allocate the shape
[in]	shape	the shape from which to take the attributes.
[in]	isExclusive	whether the new shape should be an exclusive or shared shape.

Returns

the newly-created rigid static

PxCloneStatic()

PxRigidStatic * physx::PxCloneStatic	(	PxPhysics &	physicsSDK,
		const PxTransform &	transform,
		const PxRigidActor &	actor
	)

create a static body by copying attributes from another rigid actor

The function clones a PxRigidDynamic or PxRigidStatic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:

• shapes
• actor flags
• owner client and client behavior bits
• dominance group

The following are not copied and retain their default values:

• name
• joints or observers
• aggregate or scene membership
• user data

Note

Transforms are not copied with bit-exact accuracy.

Parameters

[in]	physicsSDK	- the physics SDK used to allocate the rigid static
[in]	actor	the rigid actor from which to take the attributes.
[in]	transform	the transform of the new static.

Returns

the newly-created rigid static

PxCloseVehicleSDK()

void physx::PxCloseVehicleSDK

(

PxSerializationRegistry *

serializationRegistry = NULL

)

Shut down the PhysXVehicle library.

Call this function as part of the physx shutdown process.

Parameters

serializationRegistry

PxSerializationRegistry instance, if non-NULL must be the same as passed into PxInitVehicleSDK.

Note

This function must be called prior to shutdown of PxFoundation and PxPhysics.

If the PxSerializationRegistry instance is specified this function must additionally be called prior to shutdown of PhysXExtensions.

See also

PxInitVehicleSDK

PxComputeAngle()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 physx::PxComputeAngle	(	const PxVec3 &	v0,
		const PxVec3 &	v1
	)

Compute the angle between two non-unit vectors.

Parameters

[in]	v0	is one of the non-unit vectors
[in]	v1	is the other of the two non-unit vectors

Returns

Returns the angle (in radians) between the two vector v0 and v1.

PxComputeBasisVectors() [1/2]

PX_INLINE void physx::PxComputeBasisVectors	(	const PxVec3 &	dir,
		PxVec3 &	right,
		PxVec3 &	up
	)

Compute two normalized vectors (right and up) that are perpendicular to an input normalized vector (dir).

Parameters

[in]	dir	is a normalized vector that is used to compute the perpendicular vectors.
[out]	right	is the first of the two vectors perpendicular to dir
[out]	up	is the second of the two vectors perpendicular to dir

PxComputeBasisVectors() [2/2]

PX_INLINE void physx::PxComputeBasisVectors	(	const PxVec3 &	p0,
		const PxVec3 &	p1,
		PxVec3 &	dir,
		PxVec3 &	right,
		PxVec3 &	up
	)

Compute three normalized vectors (dir, right and up) that are parallel to (dir) and perpendicular to (right, up) the normalized direction vector (p1 - p0)/||p1 - p0||.

Parameters

[in]	p0	is used to compute the normalized vector dir = (p1 - p0)/||p1 - p0||.
[in]	p1	is used to compute the normalized vector dir = (p1 - p0)/||p1 - p0||.
[out]	dir	is the normalized vector (p1 - p0)/||p1 - p0||.
[out]	right	is the first of the two normalized vectors perpendicular to dir
[out]	up	is the second of the two normalized vectors perpendicular to dir

PxComputeHeightFieldPenetration()

bool physx::PxComputeHeightFieldPenetration	(	PxVec3 &	direction,
		PxReal &	depth,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxHeightFieldGeometry &	heightFieldGeom,
		const PxTransform &	heightFieldPose,
		PxU32	maxIter,
		PxU32 *	usedIter = NULL
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or zero.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	heightFieldGeom	The heightfield geometry
[in]	heightFieldPose	Pose for the heightfield
[in]	maxIter	Max number of iterations before returning.
[out]	usedIter	Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also

PxGeometry PxTransform PxHeightFieldGeometry

PxComputeTriangleMeshPenetration()

bool physx::PxComputeTriangleMeshPenetration	(	PxVec3 &	direction,
		PxReal &	depth,
		const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxTriangleMeshGeometry &	meshGeom,
		const PxTransform &	meshPose,
		PxU32	maxIter,
		PxU32 *	usedIter = NULL
	)

Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.

This iterative function computes an approximate vector that can be used to depenetrate a geom object from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.

The function works best when the amount of overlap between the geom object and the mesh is small. If the geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected, and the function does not compute an MTD vector.

The function early exits if no overlap is detected after a depenetration attempt. This means that if maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has been successful. Usually N = 4 gives good results.

Parameters

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or zero.
[in]	geom	The geometry object
[in]	geomPose	Pose for the geometry object
[in]	meshGeom	The mesh geometry
[in]	meshPose	Pose for the mesh
[in]	maxIter	Max number of iterations before returning.
[out]	usedIter	Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.

Returns

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also

PxGeometry PxTransform PxTriangleMeshGeometry

PxContactJointCreate()

PxContactJoint * physx::PxContactJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a distance Joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxContactJoint

PxCountLeadingZeros()

PX_FORCE_INLINE uint32_t physx::PxCountLeadingZeros

(

uint32_t

v

)

Returns the index of the highest set bit. Returns 32 for v=0.

Returns the number of leading zeros in v. Returns 32 for v=0.

PxCreateAABBManager()

PxAABBManager * physx::PxCreateAABBManager

(

PxBroadPhase &

broadphase

)

AABB manager factory function.

Use this function to create a new standalone high-level broadphase.

Parameters

broadphase

[in] The broadphase that will be managed by the AABB manager

Returns

Newly created AABB manager, or NULL

See also

PxAABBManager PxBroadPhase

PxCreateBatchQueryExt() [1/2]

PxBatchQueryExt * physx::PxCreateBatchQueryExt	(	const PxScene &	scene,
		PxQueryFilterCallback *	queryFilterCallback,
		const PxU32	maxNbRaycasts,
		const PxU32	maxNbRaycastTouches,
		const PxU32	maxNbSweeps,
		const PxU32	maxNbSweepTouches,
		const PxU32	maxNbOverlaps,
		const PxU32	maxNbOverlapTouches
	)

Create a PxBatchQueryExt without the need for pre-allocated result or touch buffers.

Parameters

[in]	scene	Queries will be performed against objects in the specified PxScene
[in]	queryFilterCallback	Filtering for all queries is performed using queryFilterCallback. A null pointer results in all shapes being considered.
[in]	maxNbRaycasts	A result buffer will be allocated that is large enough to accommodate maxNbRaycasts calls to PxBatchQueryExt::raycast()
[in]	maxNbRaycastTouches	A touch buffer will be allocated that is large enough to accommodate maxNbRaycastTouches touches for all raycasts in the batch.
[in]	maxNbSweeps	A result buffer will be allocated that is large enough to accommodate maxNbSweeps calls to PxBatchQueryExt::sweep()
[in]	maxNbSweepTouches	A touch buffer will be allocated that is large enough to accommodate maxNbSweepTouches touches for all sweeps in the batch.
[in]	maxNbOverlaps	A result buffer will be allocated that is large enough to accommodate maxNbOverlaps calls to PxBatchQueryExt::overlap()
[in]	maxNbOverlapTouches	A touch buffer will be allocated that is large enough to accommodate maxNbOverlapTouches touches for all overlaps in the batch.

Returns

Returns a PxBatchQueryExt instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal.
In the event that a NULL pointer is returned a corresponding error will be issued to the error stream.

PxCreateBatchQueryExt() [2/2]

PxBatchQueryExt * physx::PxCreateBatchQueryExt	(	const PxScene &	scene,
		PxQueryFilterCallback *	queryFilterCallback,
		PxRaycastBuffer *	raycastBuffers,
		const PxU32	maxNbRaycasts,
		PxRaycastHit *	raycastTouches,
		const PxU32	maxNbRaycastTouches,
		PxSweepBuffer *	sweepBuffers,
		const PxU32	maxNbSweeps,
		PxSweepHit *	sweepTouches,
		const PxU32	maxNbSweepTouches,
		PxOverlapBuffer *	overlapBuffers,
		const PxU32	maxNbOverlaps,
		PxOverlapHit *	overlapTouches,
		const PxU32	maxNbOverlapTouches
	)

Create a PxBatchQueryExt with user-supplied result and touch buffers.

Parameters

[in]	scene	Queries will be performed against objects in the specified PxScene
[in]	queryFilterCallback	Filtering for all queries is performed using queryFilterCallback. A null pointer results in all shapes being considered.
[in]	raycastBuffers	This is the array that will be used to store the results of each raycast in a batch.
[in]	maxNbRaycasts	This is the length of the raycastBuffers array.
[in]	raycastTouches	This is the array that will be used to store the touches generated by all raycasts in a batch.
[in]	maxNbRaycastTouches	This is the length of the raycastTouches array.
[in]	sweepBuffers	This is the array that will be used to store the results of each sweep in a batch.
[in]	maxNbSweeps	This is the length of the sweepBuffers array.
[in]	sweepTouches	This is the array that will be used to store the touches generated by all sweeps in a batch.
[in]	maxNbSweepTouches	This is the length of the sweepTouches array.
[in]	overlapBuffers	This is the array that will be used to store the results of each overlap in a batch.
[in]	maxNbOverlaps	This is the length of the overlapBuffers array.
[in]	overlapTouches	This is the array that will be used to store the touches generated by all overlaps in a batch.
[in]	maxNbOverlapTouches	This is the length of the overlapTouches array.

Returns

Returns a PxBatchQueryExt instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal. In the event that a NULL pointer is returned a corresponding error will be issued to the error stream.

PxCreateBroadPhase()

PxBroadPhase * physx::PxCreateBroadPhase

(

const PxBroadPhaseDesc &

desc

)

Broadphase factory function.

Use this function to create a new standalone broadphase.

Parameters

desc	[in] Broadphase descriptor

Returns

Newly created broadphase, or NULL

See also

PxBroadPhase PxBroadPhaseDesc

PxCreateCustomSceneQuerySystem()

PxCustomSceneQuerySystem * physx::PxCreateCustomSceneQuerySystem	(	PxSceneQueryUpdateMode::Enum	sceneQueryUpdateMode,
		PxU64	contextID,
		const PxCustomSceneQuerySystemAdapter &	adapter,
		bool	usesTreeOfPruners = false
	)

Creates a custom scene query system.

This is similar to PxCreateExternalSceneQuerySystem, except this function creates a PxCustomSceneQuerySystem object. It can be plugged to PxScene the same way, via PxSceneDesc::sceneQuerySystem.

Parameters

[in]	sceneQueryUpdateMode	Desired update mode
[in]	contextID	Context ID parameter, sent to the profiler
[in]	adapter	Adapter class implementing our extended API
[in]	usesTreeOfPruners	True to keep pruners themselves in a BVH, which might increase query performance if a lot of pruners are involved

Returns

A custom SQ system instance

See also

PxCustomSceneQuerySystem PxSceneQueryUpdateMode PxCustomSceneQuerySystemAdapter PxSceneDesc::sceneQuerySystem

PxCreateDynamic() [1/2]

PxRigidDynamic * physx::PxCreateDynamic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		PxReal	density,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a PxRigidDynamic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape, which must be a sphere, capsule, box or convex
[in]	material	the material for the new object's shape
[in]	density	the density of the new object. Must be greater than zero.
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Returns

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

See also

PxRigidDynamic PxShapeFlag

PxCreateDynamic() [2/2]

PxRigidDynamic * physx::PxCreateDynamic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape,
		PxReal	density
	)

simple method to create a PxRigidDynamic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the transform of the new object
[in]	shape	the shape of the new object
[in]	density	the density of the new object. Must be greater than zero.

Returns

a new dynamic actor with the PxRigidBodyFlag, or NULL if it could not be constructed

See also

PxRigidDynamic PxShapeFlag

PxCreateExternalSceneQuerySystem()

PxSceneQuerySystem * physx::PxCreateExternalSceneQuerySystem	(	const PxSceneQueryDesc &	desc,
		PxU64	contextID
	)

Creates an external scene query system.

An external SQ system is the part of a PxScene that deals with scene queries (SQ). This is usually taken care of by an internal implementation inside PxScene, but it is also possible to re-route all SQ calls to an external implementation, potentially opening the door to some customizations in behavior and features for advanced users.

The following external SQ system is an example of how an implementation would look like. It re-uses much of the same code as the internal version, but it could be re-implemented in a completely different way to match users' specific needs.

Parameters

[in]	desc	Scene query descriptor
[in]	contextID	Context ID parameter, sent to the profiler

Returns

An external SQ system instance

See also

PxSceneQuerySystem PxSceneQueryDesc

PxCreateKinematic() [1/2]

PxRigidDynamic * physx::PxCreateKinematic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		PxReal	density,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a kinematic PxRigidDynamic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape
[in]	material	the material for the new object's shape
[in]	density	the density of the new object. Must be greater than zero if the object is to participate in simulation.
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Note

unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However, kinematics of other geometry types may not participate in simulation collision and may be used only for triggers or scene queries of moving objects under animation control. In this case the density parameter will be ignored and the created shape will be set up as a scene query only shape (see PxShapeFlag::eSCENE_QUERY_SHAPE)

Returns

a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could not be constructed

See also

PxRigidDynamic PxShapeFlag

PxCreateKinematic() [2/2]

PxRigidDynamic * physx::PxCreateKinematic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape,
		PxReal	density
	)

simple method to create a kinematic PxRigidDynamic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	density	the density of the new object. Must be greater than zero if the object is to participate in simulation.
[in]	shape	the shape of the new object

Note

unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However, kinematics of other geometry types may not participate in simulation collision and may be used only for triggers or scene queries of moving objects under animation control. In this case the density parameter will be ignored and the created shape will be set up as a scene query only shape (see PxShapeFlag::eSCENE_QUERY_SHAPE)

Returns

a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could not be constructed

See also

PxRigidDynamic PxShapeFlag

PxCreateParticleClothCooker()

ExtGpu::PxParticleClothCooker * physx::PxCreateParticleClothCooker	(	PxU32	vertexCount,
		physx::PxVec4 *	inVertices,
		PxU32	triangleIndexCount,
		PxU32 *	inTriangleIndices,
		PxU32	constraintTypeFlags = ExtGpu::PxParticleClothConstraint::eTYPE_ALL,
		PxVec3	verticalDirection = PxVec3(0.0f,1.0f,0.0f),
		PxReal	bendingConstraintMaxAngle = 20.0f/360.0f*PxTwoPi
	)

Creates a PxParticleClothCooker.

Parameters

[in]	vertexCount	The number of vertices of the particle cloth.
[in]	inVertices	The vertex positions of the particle cloth.
[in]	triangleIndexCount	The number of triangles of the cloth mesh.
[in]	inTriangleIndices	The triangle indices of the cloth mesh
[in]	constraintTypeFlags	The types of constraints to generate. See PxParticleClothConstraint.
[in]	verticalDirection	The vertical direction of the cloth mesh. This is needed to generate the correct horizontal and vertical constraints to model shear stiffness.
[in]	bendingConstraintMaxAngle	The maximum angle considered in the bending constraints.

Returns

A pointer to the new PxParticleClothCooker.

PxCreatePlane()

PxRigidStatic * physx::PxCreatePlane	(	PxPhysics &	sdk,
		const PxPlane &	plane,
		PxMaterial &	material
	)

create a plane actor. The plane equation is n.x + d = 0

Parameters

[in]	sdk	the PxPhysics object
[in]	plane	a plane of the form n.x + d = 0
[in]	material	the material for the new object's shape

Returns

a new static actor, or NULL if it could not be constructed

See also

PxRigidStatic

PxCreatePvd()

PxPvd * physx::PxCreatePvd

(

PxFoundation &

foundation

)

Create a pvd instance.

Parameters

foundation

is the foundation instance that stores the allocator and error callbacks.

PxCreateShapeSampler()

PxPoissonSampler * physx::PxCreateShapeSampler	(	const PxGeometry &	geometry,
		const PxTransform &	transform,
		const PxBounds3 &	worldBounds,
		PxReal	initialSamplingRadius,
		PxI32	numSampleAttemptsAroundPoint = 30
	)

Creates a shape sampler

Parameters

[in]	geometry	The shape that defines the surface on which the samples get created
[in]	transform	The shape's global pose
[in]	worldBounds	The shapes bounding box
[in]	initialSamplingRadius	The closest distance two surface samples are allowed to have
[in]	numSampleAttemptsAroundPoint	Number of repetitions the underlying algorithm performs to find a new valid sample that matches all criteria like minimal distance to existing samples etc.

Returns

Returns the sampler

PxCreateStatic() [1/2]

PxRigidStatic * physx::PxCreateStatic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		const PxGeometry &	geometry,
		PxMaterial &	material,
		const PxTransform &	shapeOffset = PxTransform(PxIdentity)
	)

simple method to create a PxRigidStatic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	geometry	the geometry of the new object's shape
[in]	material	the material for the new object's shape
[in]	shapeOffset	an optional offset for the new shape, defaults to identity

Returns

a new static actor, or NULL if it could not be constructed

See also

PxRigidStatic

PxCreateStatic() [2/2]

PxRigidStatic * physx::PxCreateStatic	(	PxPhysics &	sdk,
		const PxTransform &	transform,
		PxShape &	shape
	)

simple method to create a PxRigidStatic actor with a single PxShape.

Parameters

[in]	sdk	the PxPhysics object
[in]	transform	the global pose of the new object
[in]	shape	the new object's shape

Returns

a new static actor, or NULL if it could not be constructed

See also

PxRigidStatic

PxCreateTriangleMeshSampler()

PxTriangleMeshPoissonSampler * physx::PxCreateTriangleMeshSampler	(	const PxU32 *	triangles,
		PxU32	numTriangles,
		const PxVec3 *	vertices,
		PxU32	numVertices,
		PxReal	initialSamplingRadius,
		PxI32	numSampleAttemptsAroundPoint = 30
	)

Creates a triangle mesh sampler

Parameters

[in]	triangles	The triangle indices of the mesh
[in]	numTriangles	The total number of triangles
[in]	vertices	The vertices of the mesh
[in]	numVertices	The total number of vertices
[in]	initialSamplingRadius	The closest distance two surface samples are allowed to have
[in]	numSampleAttemptsAroundPoint	Number of repetitions the underlying algorithm performs to find a new valid sample that matches all criteria like minimal distance to existing samples etc.

Returns

Returns the sampler

PxD6JointCreate()

PxD6Joint * physx::PxD6JointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a D6 joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxD6Joint

PxD6JointCreate_Distance()

PxJoint * physx::PxD6JointCreate_Distance	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		float	maxDist,
		bool	useD6
	)

Helper function to create a distance joint, using either a PxD6Joint or PxDistanceJoint.

This helper function only supports a maximum distance constraint, because PxD6Joint does not support a minimum distance constraint (contrary to PxDistanceJoint).

The distance is computed between the joint frames' world-space positions. The joint frames' orientations are irrelevant here so the function sets them to identity.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	maxDist	The maximum allowed distance
[in]	useD6	True to use a PxD6Joint, false to use a PxDistanceJoint;

Returns

The created joint.

See also

PxD6Joint PxDistanceJoint

PxD6JointCreate_Fixed()

PxJoint * physx::PxD6JointCreate_Fixed	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		bool	useD6
	)

Helper function to create a fixed joint, using either a PxD6Joint or PxFixedJoint.

For fixed joints it is important that the joint frames have the same orientation. This helper function uses an identity rotation for both. It is also important that the joint frames have an equivalent position in world space. The function does not check this, so it is up to users to ensure that this is the case.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	useD6	True to use a PxD6Joint, false to use a PxFixedJoint;

Returns

The created joint.

See also

PxD6Joint PxFixedJoint

PxD6JointCreate_GenericCone()

PxJoint * physx::PxD6JointCreate_GenericCone	(	float &	apiroty,
		float &	apirotz,
		PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		float	minLimit1,
		float	maxLimit1,
		float	minLimit2,
		float	maxLimit2,
		bool	useD6
	)

Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.

This function supports a cone limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric cone. If the angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the cone axis is the X axis in actor0's space. If the limits are not symmetric, the function rotates the cone axis accordingly so that limits remain symmetric for PhysX. If this happens, the initial joint frames will be different for both actors. By default minLimit1/maxLimit1 are limits around the joint's Y axis, and minLimit2/maxLimit2 are limits around the joint's Z axis.

The function creates hard limits, and uses PhysX's default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-PI;PI[.

The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

The returned apiroty and apirotz values can later be added to retrieved Y and Z swing angle values (from the joint), to remap angle values to the given input range.

Parameters

[out]	apiroty	Amount of rotation around Y used to setup actor0's joint frame
[out]	apirotz	Amount of rotation around Z used to setup actor0's joint frame
[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	minLimit1	Min angular limit along the joint frame's second axis (first axis = cone axis)
[in]	maxLimit1	Max angular limit along the joint frame's second axis (first axis = cone axis)
[in]	minLimit2	Min angular limit along the joint frame's third axis (first axis = cone axis)
[in]	maxLimit2	Max angular limit along the joint frame's third axis (first axis = cone axis)
[in]	useD6	True to use a PxD6Joint, false to use a PxSphericalJoint;

Returns

The created joint.

See also

PxD6Joint PxSphericalJoint

PxD6JointCreate_Prismatic()

PxJoint * physx::PxD6JointCreate_Prismatic	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		const PxVec3 &	axis,
		float	minLimit,
		float	maxLimit,
		bool	useD6
	)

Helper function to create a prismatic joint, using either a PxD6Joint or PxPrismaticJoint.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired translation axis. This orientation is computed by the function, so users only have to define the desired translation axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The translation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the limits are not enforced and the axis is free. The limit values are computed relative to the position of actor0's joint frame.

The function creates hard limits, and uses PhysX's default contact distance parameter.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	axis	The axis along which objects are allowed to move, expressed in the actors' local space
[in]	minLimit	The minimum allowed position along the axis
[in]	maxLimit	The maximum allowed position along the axis
[in]	useD6	True to use a PxD6Joint, false to use a PxPrismaticJoint;

Returns

The created joint.

See also

PxD6Joint PxPrismaticJoint

PxD6JointCreate_Pyramid()

PxJoint * physx::PxD6JointCreate_Pyramid	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		const PxVec3 &	axis,
		float	minLimit1,
		float	maxLimit1,
		float	minLimit2,
		float	maxLimit2
	)

Helper function to create a D6 joint with pyramidal swing limits.

This function supports a pyramid limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric pyramid. If the angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the pyramid axis is the X axis in actor0's space. By default minLimit1/maxLimit1 are limits around the joint's Y axis, and minLimit2/maxLimit2 are limits around the joint's Z axis.

The function creates hard limits, and uses PhysX's default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-PI;PI[.

The pyramid axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	axis	The pyramid axis, expressed in the actors' local space
[in]	minLimit1	Min angular limit along the joint frame's second axis (first axis = pyramid axis)
[in]	maxLimit1	Max angular limit along the joint frame's second axis (first axis = pyramid axis)
[in]	minLimit2	Min angular limit along the joint frame's third axis (first axis = pyramid axis)
[in]	maxLimit2	Max angular limit along the joint frame's third axis (first axis = pyramid axis)

Returns

The created joint.

See also

PxD6Joint

PxD6JointCreate_Revolute()

PxJoint * physx::PxD6JointCreate_Revolute	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		const PxVec3 &	axis,
		float	minLimit,
		float	maxLimit,
		bool	useD6
	)

Helper function to create a revolute joint, using either a PxD6Joint or PxRevoluteJoint.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired rotation axis. This orientation is computed by the function, so users only have to define the desired rotation axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The rotation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the limits are not enforced and the axis is free. The limit values are computed relative to the rotation of actor0's joint frame.

The function creates hard limits, and uses PhysX's default contact distance parameter.

Limits are expressed in radians. Allowed range is ]-2*PI;+2*PI[

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	axis	The axis around which objects are allowed to move, expressed in the actors' local space
[in]	minLimit	The minimum allowed rotation along the axis
[in]	maxLimit	The maximum allowed rotation along the axis
[in]	useD6	True to use a PxD6Joint, false to use a PxRevoluteJoint;

Returns

The created joint.

See also

PxD6Joint PxRevoluteJoint

PxD6JointCreate_Spherical()

PxJoint * physx::PxD6JointCreate_Spherical	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxVec3 &	localPos0,
		PxRigidActor *	actor1,
		const PxVec3 &	localPos1,
		const PxVec3 &	axis,
		float	limit1,
		float	limit2,
		bool	useD6
	)

Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.

This function supports a cone limit shape, defined by a cone axis and two angular limit values.

This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired cone axis. This orientation is computed by the function, so users only have to define the desired cone axis (typically 1;0;0 or 0;1;0 or 0;0;1).

The rotations can be limited. Limits are enforced if limit1>0 and limit2>0. Otherwise the motion is free. The limit values define an ellipse, which is the cross-section of the cone limit shape.

The function creates hard limits, and uses PhysX's default contact distance parameter.

Limits are expressed in radians. Allowed range is ]0;PI[. Limits are symmetric around the cone axis.

The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos0	The position of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localPos1	The position of the joint relative to actor1
[in]	axis	The cone axis, expressed in the actors' local space
[in]	limit1	Max angular limit for the ellipse along the joint frame's second axis (first axis = cone axis)
[in]	limit2	Max angular limit for the ellipse along the joint frame's third axis (first axis = cone axis)
[in]	useD6	True to use a PxD6Joint, false to use a PxSphericalJoint;

Returns

The created joint.

See also

PxD6Joint PxSphericalJoint

PxDefaultCpuDispatcherCreate()

PxDefaultCpuDispatcher * physx::PxDefaultCpuDispatcherCreate	(	PxU32	numThreads,
		PxU32 *	affinityMasks = NULL,
		PxDefaultCpuDispatcherWaitForWorkMode::Enum	mode = PxDefaultCpuDispatcherWaitForWorkMode::eWAIT_FOR_WORK,
		PxU32	yieldProcessorCount = 0
	)

Create default dispatcher, extensions SDK needs to be initialized first.

Parameters

[in]	numThreads	Number of worker threads the dispatcher should use.
[in]	affinityMasks	Array with affinity mask for each thread. If not defined, default masks will be used.
[in]	mode	is the strategy employed when a busy-wait is encountered.
[in]	yieldProcessorCount	specifies the number of times a OS-specific yield processor command will be executed during each cycle of a busy-wait in the event that the specified mode is eYIELD_PROCESSOR

Note

numThreads may be zero in which case no worker thread are initialized and simulation tasks will be executed on the thread that calls PxScene::simulate()

yieldProcessorCount must be greater than zero if eYIELD_PROCESSOR is the chosen mode and equal to zero for all other modes.

eYIELD_THREAD and eYIELD_PROCESSOR modes will use compute resources even if the simulation is not running. It is left to users to keep threads inactive, if so desired, when no simulation is running.

See also

PxDefaultCpuDispatcher

PxDefaultPvdFileTransportCreate()

PxPvdTransport * physx::PxDefaultPvdFileTransportCreate

(

const char *

name

)

Create a default file transport.

Parameters

name	full path filename used save captured pvd data, or NULL for a fake/test file transport.

PxDefaultPvdSocketTransportCreate()

PxPvdTransport * physx::PxDefaultPvdSocketTransportCreate	(	const char *	host,
		int	port,
		unsigned int	timeoutInMilliseconds
	)

Create a default socket transport.

Parameters

host	host address of the pvd application.
port	ip port used for pvd, should same as the port setting in pvd application.
timeoutInMilliseconds	timeout when connect to pvd host.

PxDefaultSimulationFilterShader()

PxFilterFlags physx::PxDefaultSimulationFilterShader	(	PxFilterObjectAttributes	attributes0,
		PxFilterData	filterData0,
		PxFilterObjectAttributes	attributes1,
		PxFilterData	filterData1,
		PxPairFlags &	pairFlags,
		const void *	constantBlock,
		PxU32	constantBlockSize
	)

Implementation of a simple filter shader that emulates PhysX 2.8.x filtering.

This shader provides the following logic:

• If one of the two filter objects is a trigger, the pair is acccepted and PxPairFlag::eTRIGGER_DEFAULT will be used for trigger reports
• Else, if the filter mask logic (see further below) discards the pair it will be suppressed (PxFilterFlag::eSUPPRESS)
• Else, the pair gets accepted and collision response gets enabled (PxPairFlag::eCONTACT_DEFAULT)

Filter mask logic: Given the two #PxFilterData structures fd0 and fd1 of two collision objects, the pair passes the filter if the following conditions are met:

1) Collision groups of the pair are enabled
2) Collision filtering equation is satisfied

See also

PxSimulationFilterShader

PxDistanceJointCreate()

PxDistanceJoint * physx::PxDistanceJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a distance Joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxDistanceJoint

PxEllipseClamp()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 physx::PxEllipseClamp	(	const PxVec3 &	point,
		const PxVec3 &	radii
	)

Compute the closest point on an 2d ellipse to a given 2d point.

Parameters

[in]	point	is a 2d point in the y-z plane represented by (point.y, point.z)
[in]	radii	are the radii of the ellipse (radii.y and radii.z) in the y-z plane.

Returns

Returns the 2d position on the surface of the ellipse that is closest to point.

PxExtractIsosurfaceFromSDF()

bool physx::PxExtractIsosurfaceFromSDF	(	const PxTriangleMesh &	triangleMesh,
		PxArray< PxVec3 > &	isosurfaceVertices,
		PxArray< PxU32 > &	isosurfaceTriangleIndices
	)

Extracts an isosurface from the SDF of a mesh if it the SDF is available.

Parameters

[in]	triangleMesh	The triangle mesh
[out]	isosurfaceVertices	The vertices of the extracted isosurface
[out]	isosurfaceTriangleIndices	The triangles of the extracted isosurface

PxFilterObjectIsKinematic()

PX_INLINE bool physx::PxFilterObjectIsKinematic

(

PxFilterObjectAttributes

attr

)

Specifies whether the collision object belongs to a kinematic rigid body.

Parameters

[in]

attr

The filter attribute of a collision pair object

Returns

True if the object belongs to a kinematic rigid body, else false

See also

PxRigidBodyFlag::eKINEMATIC

PxFilterObjectIsTrigger()

PX_INLINE bool physx::PxFilterObjectIsTrigger

(

PxFilterObjectAttributes

attr

)

Specifies whether the collision object is a trigger shape.

Parameters

[in]

attr

The filter attribute of a collision pair object

Returns

True if the object is a trigger shape, else false

See also

PxShapeFlag::eTRIGGER_SHAPE

PxFindFaceIndex()

PxU32 physx::PxFindFaceIndex	(	const PxConvexMeshGeometry &	convexGeom,
		const PxTransform &	geomPose,
		const PxVec3 &	impactPos,
		const PxVec3 &	unitDir
	)

Computes closest polygon of the convex hull geometry for a given impact point and impact direction. When doing sweeps against a scene, one might want to delay the rather expensive computation of the hit face index for convexes until it is clear the information is really needed and then use this method to get the corresponding face index.

Parameters

[in]	convexGeom	The convex mesh geometry.
[in]	geomPose	Pose for the geometry object.
[in]	impactPos	Impact position.
[in]	unitDir	Normalized impact direction.

Returns

Closest face index of the convex geometry.

See also

PxTransform PxConvexMeshGeometry

PxFindOverlap()

bool physx::PxFindOverlap	(	PxReportCallback< PxGeomIndexPair > &	callback,
		const PxBVH &	bvh0,
		const PxBVH &	bvh1
	)

BVH-vs-BVH overlap test.

This function returns pairs of box indices that belong to both the first & second input bvhs.

Parameters

[in]	callback	The callback object used to report results
[in]	bvh0	First bvh
[in]	bvh1	Second bvh

Returns

true if an overlap has been detected

See also

PxBVH PxReportCallback

PxFixedJointCreate()

PxFixedJoint * physx::PxFixedJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a fixed joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxFixedJoint

PxGearJointCreate()

PxGearJoint * physx::PxGearJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a gear Joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxGearJoint

PxGetAssertHandler()

PxAssertHandler & physx::PxGetAssertHandler

(

)

Deprecated:

PxGetBroadPhaseDynamicFilterGroup()

PxBpFilterGroup physx::PxGetBroadPhaseDynamicFilterGroup

(

PxU32

id

)

Retrieves a filter group for dynamic objects.

Mark dynamic objects with this group when adding them to the broadphase. Each dynamic object must have an ID, and overlaps between dynamic objects that have the same ID will not be detected. This is useful to dismiss overlaps between shapes of the same (compound) actor directly within the broadphase.

Parameters

id	[in] ID/Index of dynamic object

Returns

Filter group for the object.

See also

PxBpFilterGroup

PxGetBroadPhaseKinematicFilterGroup()

PxBpFilterGroup physx::PxGetBroadPhaseKinematicFilterGroup

(

PxU32

id

)

Retrieves a filter group for kinematic objects.

Mark kinematic objects with this group when adding them to the broadphase. Each kinematic object must have an ID, and overlaps between kinematic objects that have the same ID will not be detected.

Parameters

id	[in] ID/Index of kinematic object

Returns

Filter group for the object.

See also

PxBpFilterGroup

PxGetBroadPhaseStaticFilterGroup()

PX_IMPLEMENT_OUTPUT_ERROR PxBpFilterGroup physx::PxGetBroadPhaseStaticFilterGroup

(

)

Retrieves the filter group for static objects.

Mark static objects with this group when adding them to the broadphase. Overlaps between static objects will not be detected. All static objects should have the same group.

Returns

Filter group for static objects.

See also

PxBpFilterGroup

PxGetFilterBool()

bool physx::PxGetFilterBool

(

)

Retrieves filtering's boolean value. See comments for PxGroupsMask.

Returns

flag Boolean value for filter.

See also

PxSetFilterBool PxSetFilterConstants

PxGetFilterConstants()

void physx::PxGetFilterConstants	(	PxGroupsMask &	c0,
		PxGroupsMask &	c1
	)

Gets filtering constant K0 and K1. See comments for PxGroupsMask.

Parameters

[out]	c0	the filtering constants, as a mask. See #PxGroupsMask.
[out]	c1	the filtering constants, as a mask. See #PxGroupsMask.

See also

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

PxGetFilterObjectType()

PX_INLINE PxFilterObjectType::Enum physx::PxGetFilterObjectType

(

PxFilterObjectAttributes

attr

)

Extract filter object type from the filter attributes of a collision pair object.

Parameters

[in]

attr

The filter attribute of a collision pair object

Returns

The type of the collision pair object.

See also

PxFilterObjectType

PxGetFilterOps()

void physx::PxGetFilterOps	(	PxFilterOp::Enum &	op0,
		PxFilterOp::Enum &	op1,
		PxFilterOp::Enum &	op2
	)

Retrieves filtering operation. See comments for PxGroupsMask.

Parameters

[out]	op0	First filter operator.
[out]	op1	Second filter operator.
[out]	op2	Third filter operator.

See also

PxSetFilterOps PxSetFilterBool PxSetFilterConstants

PxGetGroup()

PxU16 physx::PxGetGroup

(

const PxActor &

actor

)

Retrieves the value set with PxSetGroup()

Note

Collision group is an integer between 0 and 31.

Parameters

[in]

actor

The actor

Returns

The collision group this actor belongs to

See also

PxSetGroup

PxGetGroupCollisionFlag()

bool physx::PxGetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2
	)

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

Note

Collision group is an integer between 0 and 31.

Parameters

[in]	group1	First Group
[in]	group2	Second Group

Returns

True if the groups could collide

See also

PxSetGroupCollisionFlag

PxGetGroupsMask()

PxGroupsMask physx::PxGetGroupsMask

(

const PxActor &

actor

)

Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters

[in]

actor

The actor

Returns

The group mask for the actor.

See also

PxSetGroupsMask()

PxHighestSetBit()

PX_INLINE uint32_t physx::PxHighestSetBit

(

uint32_t

x

)

Return the index of the highest set bit. Not valid for zero arg.

PxHighestSetBitUnsafe()

PX_FORCE_INLINE uint32_t physx::PxHighestSetBitUnsafe

(

uint32_t

v

)

Return the index of the highest set bit. Undefined for zero arg.

Returns the index of the highest set bit. Not valid for zero arg.

PxInitVehicleSDK()

bool physx::PxInitVehicleSDK	(	PxPhysics &	physics,
		PxSerializationRegistry *	serializationRegistry = NULL
	)

Initialize the PhysXVehicle library.

Call this before using any of the vehicle functions.

Parameters

physics	The PxPhysics instance.
serializationRegistry	PxSerializationRegistry instance, if NULL vehicle serialization is not supported.

Note

This function must be called after PxFoundation and PxPhysics instances have been created.

If a PxSerializationRegistry instance is specified then PhysXVehicle is also dependent on PhysXExtensions.

See also

PxCloseVehicleSDK

PxIntegrateTransform()

void physx::PxIntegrateTransform	(	const PxTransform &	curTrans,
		const PxVec3 &	linvel,
		const PxVec3 &	angvel,
		PxReal	timeStep,
		PxTransform &	result
	)

integrate transform.

Parameters

[in]	curTrans	The current transform
[in]	linvel	Linear velocity
[in]	angvel	Angular velocity
[in]	timeStep	The time-step for integration
[out]	result	The integrated transform

PxLowestSetBit()

PX_INLINE uint32_t physx::PxLowestSetBit

(

uint32_t

x

)

Return the index of the highest set bit. Not valid for zero arg.

PxLowestSetBitUnsafe()

PX_FORCE_INLINE uint32_t physx::PxLowestSetBitUnsafe

(

uint32_t

v

)

Return the index of the highest set bit. Undefined for zero arg.

Returns the index of the highest set bit. Undefined for zero arg.

PxMarkSerializedMemory()

PX_INLINE void physx::PxMarkSerializedMemory	(	void *	ptr,
		PxU32	byteSize
	)

Mark a specified amount of memory with 0xcd pattern. This is used to check that the meta data definition for serialized classes is complete in checked builds.

Parameters

ptr	[out] Pointer to block of memory to initialize.
byteSize	[in] Number of bytes to initialize.

PxMemCopy()

PX_FORCE_INLINE void * physx::PxMemCopy	(	void *	dest,
		const void *	src,
		PxU32	count
	)

Copies the bytes of one memory block to another. The memory blocks must not overlap.

Note

Use PxMemMove if memory blocks overlap.

Parameters

dest	[out] Pointer to block of memory to copy to.
src	[in] Pointer to block of memory to copy from.
count	[in] Number of bytes to copy.

Returns

Pointer to destination memory block

Note

Use PxMemMove if memory blocks overlap.

Parameters

dest	Pointer to block of memory to copy to.
src	Pointer to block of memory to copy from.
count	Number of bytes to copy.

Returns

Pointer to destination memory block

PxMemMove()

PX_FORCE_INLINE void * physx::PxMemMove	(	void *	dest,
		const void *	src,
		PxU32	count
	)

Copies the bytes of one memory block to another. The memory blocks can overlap.

Note

Use PxMemCopy if memory blocks do not overlap.

Parameters

dest	[out] Pointer to block of memory to copy to.
src	[in] Pointer to block of memory to copy from.
count	[in] Number of bytes to copy.

Returns

Pointer to destination memory block

Note

Use PxMemCopy if memory blocks do not overlap.

Parameters

dest	Pointer to block of memory to copy to.
src	Pointer to block of memory to copy from.
count	Number of bytes to copy.

Returns

Pointer to destination memory block

PxMemSet()

PX_FORCE_INLINE void * physx::PxMemSet	(	void *	dest,
		PxI32	c,
		PxU32	count
	)

Sets the bytes of the provided buffer to the specified value.

Parameters

dest	[out] Pointer to block of memory to set to the specified value.
c	[in] Value to set the bytes of the block of memory to.
count	[in] Number of bytes to set to the specified value.

Returns

Pointer to memory block (same as input)

Parameters

dest	Pointer to block of memory to set to the specified value.
c	Value to set the bytes of the block of memory to.
count	Number of bytes to set to the specified value.

Returns

Pointer to memory block (same as input)

PxMemZero()

PX_FORCE_INLINE void * physx::PxMemZero	(	void *	dest,
		PxU32	count
	)

Sets the bytes of the provided buffer to zero.

Parameters

dest	[out] Pointer to block of memory to set zero.
count	[in] Number of bytes to set to zero.

Returns

Pointer to memory block (same as input)

Parameters

dest	Pointer to block of memory to set zero.
count	Number of bytes to set to zero.

Returns

Pointer to memory block (same as input)

PxOptimizeBoundingBox()

PxVec3 physx::PxOptimizeBoundingBox

(

PxMat33 &

basis

)

computes a oriented bounding box around the scaled basis.

Parameters

basis

Input = skewed basis, Output = (normalized) orthogonal basis.

Returns

Bounding box extent.

PxOrder() [1/2]

template<class T >

PX_CUDA_CALLABLE PX_FORCE_INLINE void physx::PxOrder	(	T &	x,
		T &	y
	)

Sort two elements using operator<

On return x will be the smaller of the two

PxOrder() [2/2]

template<class T , class E1 >

PX_CUDA_CALLABLE PX_FORCE_INLINE void physx::PxOrder	(	T &	x,
		T &	y,
		E1 &	xe1,
		E1 &	ye1
	)

Sort two elements using operator< and also keep order of any extra data

PxPlaneEquationFromTransform()

PX_INLINE PxPlane physx::PxPlaneEquationFromTransform

(

const PxTransform &

pose

)

creates a plane equation from a transform, such as the actor transform for a PxPlaneGeometry

Parameters

[in]

pose

the transform

Returns

the plane

PxPrefetch()

PX_FORCE_INLINE void physx::PxPrefetch	(	const void *	ptr,
		uint32_t	count = 1
	)

Prefetch count bytes starting at ptr.

PxPrefetchLine()

PX_FORCE_INLINE void physx::PxPrefetchLine	(	const void *	ptr,
		uint32_t	offset = 0
	)

Prefetch aligned 64B x86, 32b ARM around ptr+offset.

Prefetch aligned cache size around ptr+offset.

PxPrismaticJointCreate()

PxPrismaticJoint * physx::PxPrismaticJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a prismatic joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxPrismaticJoint

PxRackAndPinionJointCreate()

PxRackAndPinionJoint * physx::PxRackAndPinionJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a rack & pinion Joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxRackAndPinionJoint

PxRevoluteJointCreate()

PxRevoluteJoint * physx::PxRevoluteJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a revolute joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxRevoluteJoint

PxScaleRigidActor()

void physx::PxScaleRigidActor	(	PxRigidActor &	actor,
		PxReal	scale,
		bool	scaleMassProps = true
	)

scale a rigid actor by a uniform scale

The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.

Parameters

[in]	actor	a rigid actor
[in]	scale	the scale by which to multiply the actor. Must be >0.
[in]	scaleMassProps	whether to scale the mass properties

PxSeparateSwingTwist()

PX_CUDA_CALLABLE PX_FORCE_INLINE void physx::PxSeparateSwingTwist	(	const PxQuat &	q,
		PxQuat &	swing,
		PxQuat &	twist
	)

Compute from an input quaternion q a pair of quaternions (swing, twist) such that q = swing * twist with the caveats that swing.x = twist.y = twist.z = 0.

Parameters

[in]	q	is the quaternion to be decomposed into swing and twist quaternions.
[out]	swing	is the swing component of the quaternion decomposition.
[out]	twist	is the twist component of the quaternion decomposition.

PxSetAssertHandler()

void physx::PxSetAssertHandler

(

PxAssertHandler &

handler

)

Deprecated:

PxSetFilterBool()

void physx::PxSetFilterBool

(

const bool

enable

)

Setups filtering's boolean value. See comments for PxGroupsMask.

Parameters

[in]

enable

Boolean value for filter.

See also

PxSetFilterOps PxSsetFilterConstants

PxSetFilterConstants()

void physx::PxSetFilterConstants	(	const PxGroupsMask &	c0,
		const PxGroupsMask &	c1
	)

Setups filtering's K0 and K1 value. See comments for PxGroupsMask.

Parameters

[in]	c0	The new group mask. See #PxGroupsMask.
[in]	c1	The new group mask. See #PxGroupsMask.

See also

PxSetFilterOps PxSetFilterBool PxGetFilterConstants

PxSetFilterOps()

void physx::PxSetFilterOps	(	const PxFilterOp::Enum &	op0,
		const PxFilterOp::Enum &	op1,
		const PxFilterOp::Enum &	op2
	)

Setups filtering operations. See comments for PxGroupsMask.

Parameters

[in]	op0	Filter op 0.
[in]	op1	Filter op 1.
[in]	op2	Filter op 2.

See also

PxSetFilterBool PxSetFilterConstants

PxSetGroup()

void physx::PxSetGroup	(	PxActor &	actor,
		const PxU16	collisionGroup
	)

Sets which collision group this actor is part of.

Note

Collision group is an integer between 0 and 31.

Parameters

[in]	actor	The actor
[in]	collisionGroup	Collision group this actor belongs to

See also

PxGetGroup

PxSetGroupCollisionFlag()

void physx::PxSetGroupCollisionFlag	(	const PxU16	group1,
		const PxU16	group2,
		const bool	enable
	)

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

Note

Collision group is an integer between 0 and 31.

Parameters

[in]	group1	First Group
[in]	group2	Second Group
[in]	enable	True to enable collision between the groups

See also

PxGetGroupCollisionFlag

PxSetGroupsMask()

void physx::PxSetGroupsMask	(	PxActor &	actor,
		const PxGroupsMask &	mask
	)

Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask.

Parameters

[in]	actor	The actor
[in]	mask	The group mask to set for the actor.

See also

PxGetGroupsMask()

PxSetPhysXCommonDelayLoadHook()

void physx::PxSetPhysXCommonDelayLoadHook

(

const physx::PxDelayLoadHook *

hook

)

Sets delay load hook instance for PhysXCommon dll.

Parameters

[in]

hook

Delay load hook.

See also

PxDelayLoadHook

PxSetPhysXCookingDelayLoadHook()

void physx::PxSetPhysXCookingDelayLoadHook

(

const physx::PxDelayLoadHook *

hook

)

Sets delay load hook instance for PhysXCooking dll.

Parameters

[in]

hook

Delay load hook.

See also

PxDelayLoadHook

PxSetPhysXDelayLoadHook()

void physx::PxSetPhysXDelayLoadHook

(

const physx::PxDelayLoadHook *

hook

)

Sets delay load hook instance for PhysX dll.

Parameters

[in]

hook

Delay load hook.

See also

PxDelayLoadHook

PxShortestRotation()

PX_FOUNDATION_API PxQuat physx::PxShortestRotation	(	const PxVec3 &	from,
		const PxVec3 &	target
	)

finds the shortest rotation between two vectors.

Parameters

[in]	from	the vector to start from
[in]	target	the vector to rotate to

Returns

a rotation about an axis normal to the two vectors which takes one to the other via the shortest path

PxSin()

PX_CUDA_CALLABLE PX_FORCE_INLINE float physx::PxSin

(

float

a

)

trigonometry – all angles are in radians.

Sine of an angle ( Unit: Radians )

PxSlerp()

PxQuat physx::PxSlerp	(	const PxReal	t,
		const PxQuat &	left,
		const PxQuat &	right
	)

Spherical linear interpolation of two quaternions.

Parameters

[in]	t	is the interpolation parameter in range (0, 1)
[in]	left	is the start of the interpolation
[in]	right	is the end of the interpolation

Returns

Returns left when t=0, right when t=1 and a linear interpolation of left and right when 0 < t < 1. Returns angle between -PI and PI in radians

PxSphericalJointCreate()

PxSphericalJoint * physx::PxSphericalJointCreate	(	PxPhysics &	physics,
		PxRigidActor *	actor0,
		const PxTransform &	localFrame0,
		PxRigidActor *	actor1,
		const PxTransform &	localFrame1
	)

Create a spherical joint.

Parameters

[in]	physics	The physics SDK
[in]	actor0	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame0	The position and orientation of the joint relative to actor0
[in]	actor1	An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
[in]	localFrame1	The position and orientation of the joint relative to actor1

See also

PxSphericalJoint

PxTanHalf()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal physx::PxTanHalf	(	PxReal	sin,
		PxReal	cos
	)

Compute tan(theta/2) given sin(theta) and cos(theta) as inputs.

Parameters

[in]	sin	has value sin(theta)
[in]	cos	has value cos(theta)

Returns

Returns tan(theta/2)

PxTransformFromPlaneEquation()

PX_FOUNDATION_API PxTransform physx::PxTransformFromPlaneEquation

(

const PxPlane &

plane

)

creates a transform from a plane equation, suitable for an actor transform for a PxPlaneGeometry

Parameters

[in]

plane

the desired plane equation

Returns

a PxTransform which will transform the plane PxPlane(1,0,0,0) to the specified plane

PxTransformFromSegment()

PX_FOUNDATION_API PxTransform physx::PxTransformFromSegment	(	const PxVec3 &	p0,
		const PxVec3 &	p1,
		PxReal *	halfHeight = NULL
	)

creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleGeometry

Parameters

[in]	p0	one end of major axis of the capsule
[in]	p1	the other end of the axis of the capsule
[out]	halfHeight	the halfHeight of the capsule. This parameter is optional.

Returns

A PxTransform which will transform the vector (1,0,0) to the capsule axis shrunk by the halfHeight

PxVehicle4WEnable3WDeltaMode()

void physx::PxVehicle4WEnable3WDeltaMode	(	PxVehicleWheelsSimData &	wheelsSimData,
		PxVehicleWheelsDynData &	wheelsDynData,
		PxVehicleDriveSimData4W &	driveSimData,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

Reconfigure a PxVehicle4W instance as a three-wheeled car with delta config (1 front wheel, 2 rear wheels)

Note

The front-left wheel is removed and the front-right wheel is positioned at the centre of the front axle. The suspension of the front-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.

Parameters

[in,out]	wheelsSimData	is the data describing the wheels/suspensions/tires of the vehicle.
[in,out]	wheelsDynData	is the data describing the dynamic state of the wheels of the vehicle.
[in,out]	driveSimData	is the data describing the drive model of the vehicle.
[in]	context	the vehicle context to use for the setup.

PxVehicle4WEnable3WTadpoleMode()

void physx::PxVehicle4WEnable3WTadpoleMode	(	PxVehicleWheelsSimData &	wheelsSimData,
		PxVehicleWheelsDynData &	wheelsDynData,
		PxVehicleDriveSimData4W &	driveSimData,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

Reconfigure a PxVehicle4W instance as a three-wheeled car with tadpole config (2 front wheels, 1 rear wheel)

Note

The rear-left wheel is removed and the rear-right wheel is positioned at the centre of the rear axle. The suspension of the rear-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.

Parameters

[in,out]	wheelsSimData	is the data describing the wheels/suspensions/tires of the vehicle.
[in,out]	wheelsDynData	is the data describing the dynamic state of the wheels of the vehicle.
[in,out]	driveSimData	is the data describing the drive model of the vehicle.
[in]	context	the vehicle context to use for the setup.

PxVehicleComputeSprungMasses()

void physx::PxVehicleComputeSprungMasses	(	const PxU32	nbSprungMasses,
		const PxVec3 *	sprungMassCoordinates,
		const PxVec3 &	centreOfMass,
		const PxReal	totalMass,
		const PxU32	gravityDirection,
		PxReal *	sprungMasses
	)

Compute the sprung masses of the suspension springs given (i) the number of sprung masses, (ii) coordinates of the sprung masses, (iii) the center of mass offset of the rigid body, (iv) the total mass of the rigid body, and (v) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis).

Parameters

[in]	nbSprungMasses	is the number of sprung masses of the vehicle. This value corresponds to the number of wheels on the vehicle.
[in]	sprungMassCoordinates	are the coordinates of the sprung masses relative to the actor. The array sprungMassCoordinates must be of length nbSprungMasses or greater.
[in]	centreOfMass	is the coordinate of the center of mass of the rigid body relative to the actor. This value corresponds to the value set by PxRigidBody::setCMassLocalPose.
[in]	totalMass	is the total mass of all the sprung masses. This value corresponds to the value set by PxRigidBody::setMass.
[in]	gravityDirection	is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (-1,0,0), a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
[out]	sprungMasses	are the masses to set in the associated suspension data with PxVehicleSuspensionData::mSprungMass. The sprungMasses array must be of length nbSprungMasses or greater. Each element in the sprungMasses array corresponds to the suspension located at the same array element in sprungMassCoordinates. The center of mass of the masses in sprungMasses with the coordinates in sprungMassCoordinates satisfy the specified centerOfMass.

PxVehicleComputeTireForceDefault()

void physx::PxVehicleComputeTireForceDefault	(	const void *	shaderData,
		const PxF32	tireFriction,
		const PxF32	longSlip,
		const PxF32	latSlip,
		const PxF32	camber,
		const PxF32	wheelOmega,
		const PxF32	wheelRadius,
		const PxF32	recipWheelRadius,
		const PxF32	restTireLoad,
		const PxF32	normalisedTireLoad,
		const PxF32	tireLoad,
		const PxF32	gravity,
		const PxF32	recipGravity,
		PxF32 &	wheelTorque,
		PxF32 &	tireLongForceMag,
		PxF32 &	tireLatForceMag,
		PxF32 &	tireAlignMoment
	)

Default implementation of PxVehicleComputeTireForce.

See also

PxVehicleComputeTireForce, PxVehicleTireForceCalculator

PxVehicleCopyDynamicsData()

void physx::PxVehicleCopyDynamicsData	(	const PxVehicleCopyDynamicsMap &	wheelMap,
		const PxVehicleWheels &	src,
		PxVehicleWheels *	trg
	)

Copy dynamics data from src to trg, including wheel rotation speed, wheel rotation angle, engine rotation speed etc.

Parameters

[in]	wheelMap	- describes the mapping between the wheels in src and the wheels in trg.
[in]	src	- according to the wheel mapping stored in wheelMap, the dynamics data in src wheels are copied to the corresponding wheels in trg.
[out]	trg	- according to wheel mapping stored in wheelMap, the wheels in trg are given the dynamics data of the corresponding wheels in src.

Note

wheelMap must specify a unique mapping between the wheels in src and the wheels in trg.

In the event that src has fewer wheels than trg, wheelMap must specify a unique mapping between each src wheel to a trg wheel.

In the event that src has more wheels than trg, wheelMap must specify a unique mapping to each trg wheel from a src wheel.

In the event that src has fewer wheels than trg, the trg wheels that are not mapped to a src wheel are given the average wheel rotation speed of all enabled src wheels.

src and trg must be the same vehicle type.

PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs()

void physx::PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs	(	const PxVehiclePadSmoothingData &	padSmoothing,
		const PxFixedSizeLookupTable< 8 > &	steerVsForwardSpeedTable,
		const PxVehicleDrive4WRawInputData &	rawInputData,
		const PxReal	timestep,
		const bool	isVehicleInAir,
		PxVehicleDrive4W &	focusVehicle,
		const PxVehicleSteerFilter &	steerFilter = PxVehicleSteerFilter(),
		const PxVec3 &	forwardAxis = PxVehicleGetDefaultContext().forwardAxis
	)

Used to smooth and set analog vehicle control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.

Parameters

[in]	padSmoothing	describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
[in]	steerVsForwardSpeedTable	is a table of maximum allowed steer versus forward vehicle speed.
[in]	rawInputData	is the state of all gamepad analog inputs that will be used control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
[in]	isVehicleInAir	describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
[in]	focusVehicle	is the vehicle that will be given analog control values arising from the gamepad inputs.
[in]	steerFilter	is an optional smoothing filter for the steering angle.
[in]	forwardAxis	The axis denoting the local space forward direction of the vehicle.

PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs()

void physx::PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs	(	const PxVehicleKeySmoothingData &	keySmoothing,
		const PxFixedSizeLookupTable< 8 > &	steerVsForwardSpeedTable,
		const PxVehicleDrive4WRawInputData &	rawInputData,
		const PxReal	timestep,
		const bool	isVehicleInAir,
		PxVehicleDrive4W &	focusVehicle,
		const PxVehicleSteerFilter &	steerFilter = PxVehicleSteerFilter(),
		const PxVec3 &	forwardAxis = PxVehicleGetDefaultContext().forwardAxis
	)

Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). Also used to set boolean gearup, geardown values.

Parameters

[in]	keySmoothing	describes the rise and fall rates of the corresponding analog values when keys are pressed on and off.
[in]	steerVsForwardSpeedTable	is a table of maximum allowed steer versus forward vehicle speed.
[in]	rawInputData	is the state of all digital inputs that control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
[in]	isVehicleInAir	describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
[in]	focusVehicle	is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.
[in]	steerFilter	is an optional smoothing filter for the steering angle.
[in]	forwardAxis	The axis denoting the local space forward direction of the vehicle.

PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs()

void physx::PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs	(	const PxVehiclePadSmoothingData &	padSmoothing,
		const PxFixedSizeLookupTable< 8 > &	steerVsForwardSpeedTable,
		const PxVehicleDriveNWRawInputData &	rawInputData,
		const PxReal	timestep,
		const bool	isVehicleInAir,
		PxVehicleDriveNW &	focusVehicle,
		const PxVehicleSteerFilter &	steerFilter = PxVehicleSteerFilter(),
		const PxVec3 &	forwardAxis = PxVehicleGetDefaultContext().forwardAxis
	)

Used to smooth and set analog vehicle control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.

Parameters

[in]	padSmoothing	describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
[in]	steerVsForwardSpeedTable	is a table of maximum allowed steer versus forward vehicle speed.
[in]	rawInputData	is the state of all gamepad analog inputs that will be used control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs
[in]	isVehicleInAir	describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
[in]	focusVehicle	is the vehicle that will be given analog control values arising from the gamepad inputs.
[in]	steerFilter	is an optional smoothing filter for the steering angle.
[in]	forwardAxis	The axis denoting the local space forward direction of the vehicle.

PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs()

void physx::PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs	(	const PxVehicleKeySmoothingData &	keySmoothing,
		const PxFixedSizeLookupTable< 8 > &	steerVsForwardSpeedTable,
		const PxVehicleDriveNWRawInputData &	rawInputData,
		const PxReal	timestep,
		const bool	isVehicleInAir,
		PxVehicleDriveNW &	focusVehicle,
		const PxVehicleSteerFilter &	steerFilter = PxVehicleSteerFilter(),
		const PxVec3 &	forwardAxis = PxVehicleGetDefaultContext().forwardAxis
	)

Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). Also used to set boolean gearup, geardown values.

Parameters

[in]	keySmoothing	describes the rise and fall rates of the corresponding analog values when keys are pressed on and off.
[in]	steerVsForwardSpeedTable	is a table of maximum allowed steer versus forward vehicle speed.
[in]	rawInputData	is the state of all digital inputs that control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs
[in]	isVehicleInAir	describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
[in]	focusVehicle	is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.
[in]	steerFilter	is an optional smoothing filter for the steering angle.
[in]	forwardAxis	The axis denoting the local space forward direction of the vehicle.

PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs()

void physx::PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs	(	const PxVehiclePadSmoothingData &	padSmoothing,
		const PxVehicleDriveTankRawInputData &	rawInputData,
		const PxReal	timestep,
		PxVehicleDriveTank &	focusVehicle
	)

Used to smooth and set analog tank control values from analog inputs (gamepad). Also used to set boolean gearup, geardown values.

Parameters

[in]	padSmoothing	describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
[in]	rawInputData	is the state of all gamepad analog inputs that will be used control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
[in]	focusVehicle	is the vehicle that will be given analog control values arising from the gamepad inputs.

PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs()

void physx::PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs	(	const PxVehicleKeySmoothingData &	keySmoothing,
		const PxVehicleDriveTankRawInputData &	rawInputData,
		const PxReal	timestep,
		PxVehicleDriveTank &	focusVehicle
	)

Used to smooth and set analog tank control values from digital inputs (keyboard). Also used to set boolean gearup, geardown values.

Parameters

[in]	keySmoothing	describes the rise and fall rates of the corresponding analog values when keys are pressed on and off.
[in]	rawInputData	is the state of all digital inputs that control the vehicle.
[in]	timestep	is the time that has passed since the last call to PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
[in]	focusVehicle	is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.

PxVehicleGetDefaultContext()

const PxVehicleContext & physx::PxVehicleGetDefaultContext

(

)

Get the default vehicle context.

Will be used if the corresponding parameters are not specified in methods like PxVehicleUpdates() etc.

To set the default values, see the methods PxVehicleSetBasisVectors(), PxVehicleSetUpdateMode() etc.

Returns

The default vehicle context.

See also

PxVehicleSetBasisVectors() PxVehicleSetUpdateMode()

PxVehicleIsInAir()

bool physx::PxVehicleIsInAir

(

const PxVehicleWheelQueryResult &

vehWheelQueryResults

)

Test if all wheels of a vehicle are in the air by querying the wheel query data stored in the last call to PxVehicleUpdates. If all wheels are in the air then true is returned.

Note

False is returned if any wheel can reach to the ground.

If vehWheelQueryResults.wheelQueryResults is NULL or vehWheelQueryResults.nbWheelQueryResults is 0 then true is returned. This function does not account for wheels that have been disabled since the last execution of PxVehicleUpdates so it is possible that wheels disabled more recently than the last call to PxVehicleUpdates report are treated as touching the ground.

Returns

True if the vehicle is in the air, false if any wheel is touching the ground.

PxVehicleModifyWheelContacts()

PxU32 physx::PxVehicleModifyWheelContacts	(	const PxVehicleWheels &	vehicle,
		const PxU32	wheelId,
		const PxF32	wheelTangentVelocityMultiplier,
		const PxReal	maxImpulse,
		PxContactModifyPair &	contactModifyPair,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

A function called from PxContactModifyCallback::onContactModify. The function determines if rigid body contact points recorded for the wheel's PxShape are likely to be duplicated and resolved by the wheel's suspension raycast. Contact points that will be resolved by the suspension are ignored. Contact points that are accepted (rather than ignored) are modified to account for the effect of the suspension geometry and the angular speed of the wheel.

Parameters

[in]	vehicle	is a reference to the PxVehicleWheels instance that owns the wheel
[in]	wheelId	is the id of the wheel
[in]	wheelTangentVelocityMultiplier	determines the amount of wheel angular velocity that is used to modify the target relative velocity of the contact. The target relative velocity is modified by adding a vector equal to the tangent velocity of the rotating wheel at the contact point and scaled by wheelTangentVelocityMultiplier. The value of wheelTangentVelocityMultiplier is limited to the range (0,1). Higher values mimic higher values of friction and tire load, while lower values mimic lower values of friction and tire load.
[in]	maxImpulse	determines the maximum impulse strength that the contacts can apply when a wheel is in contact with a PxRigidDynamic. This value is ignored for contacts with PxRigidStatic instances.
[in,out]	contactModifyPair	describes the set of contacts involving the PxShape of the specified wheel and one other shape. The contacts in the contact set are ignored or modified as required.
[in]	context	the vehicle context to use for the contact modification.

Note

Contact points are accepted or rejected using the threshold angles specified in the function PxVehicleSetSweepHitRejectionAngles.

If a contact point is not rejected it is modified to account for the wheel rotation speed.

Set maxImpulse to PX_MAX_F32 to allow any impulse value to be applied.

Reduce maxImpulse if the wheels are frequently colliding with light objects with mass much less than the vehicle's mass. Reducing this value encourages numerical stability.

See also

PxContactModifyCallback::onContactModify, PxVehicleSetSweepHitRejectionAngles, PxVehicleContext

PxVehiclePostUpdates()

void physx::PxVehiclePostUpdates	(	const PxVehicleConcurrentUpdateData *	vehicleConcurrentUpdates,
		const PxU32	nbVehicles,
		PxVehicleWheels **	vehicles,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

Apply actor changes that were computed in concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which could not be safely applied due to the concurrency.

Parameters

[in]	vehicleConcurrentUpdates	is an array of length nbVehicles where vehicleConcurrentUpdates[i] contains data describing actor changes that were computed for vehicles[i] during concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
[in]	nbVehicles	is the number of vehicles pointers in the vehicles array
[in,out]	vehicles	is an array of length nbVehicles containing all vehicles that were partially updated in concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
[in]	context	the vehicle context to use for the vehicle post update.

See also

PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData

PxVehicleSetBasisVectors()

void physx::PxVehicleSetBasisVectors	(	const PxVec3 &	up,
		const PxVec3 &	forward
	)

Set the basis vectors of the vehicle simulation.

See PxVehicleContext for the default values.

Call this function before using PxVehicleUpdates unless the default values are correct or the settings structure is explicitly provided.

See also

PxVehicleContext

PxVehicleSetMaxHitActorAcceleration()

void physx::PxVehicleSetMaxHitActorAcceleration

(

const PxF32

maxHitActorAcceleration

)

Determine the maximum acceleration experienced by PxRigidDynamic instances that are found to be in contact with a wheel.

Note

Newton's Third Law states that every force has an equal and opposite force. As a consequence, forces applied to the suspension must be applied to dynamic objects that lie under the wheel. This can lead to instabilities, particularly when a heavy wheel is driving on a light object. The value of maxHitActorAcceleration clamps the applied force so that it never generates an acceleration greater than the specified value.

See PxVehicleContext for the default value.

See also

PxVehicleContext

PxVehicleSetSweepHitRejectionAngles()

void physx::PxVehicleSetSweepHitRejectionAngles	(	const PxF32	pointRejectAngle,
		const PxF32	normalRejectAngle
	)

Set threshold angles that are used to determine if a wheel hit is to be resolved by vehicle suspension or by rigid body collision.

Note

^ N ___ |**

%%% %%% ** %%% %%% ** / / %%% %%% / / %%% %%% / C / %%% | ** %%% / | ** / %%% | %%%/ | X
%%% | %%% / **_| ^ | / D %%% | %%% / | / | / | / |
^ | S |/

The diagram above depicts a wheel centered at "C" that has hit an inclined plane at point "X".
The inclined plane has unit normal "N", while the suspension direction has unit vector "S". The unit vector from the wheel center to the hit point is "D". Hit points are analyzed by comparing the unit vectors D and N with the suspension direction S. This analysis is performed in the contact modification callback PxVehicleModifyWheelContacts (when enabled) and in PxVehicleUpdates (when non-blocking sweeps are enabled). If the angle between D and S is less than pointRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected by the contact modification callback PxVehicleModifyWheelContacts. If the angle between -N and S is less than normalRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected by the contact modification callback PxVehicleModifyWheelContacts.

Parameters

pointRejectAngle	is the threshold angle used when comparing the angle between D and S.
normalRejectAngle	is the threshold angle used when comparing the angle between -N and S.

Note

PxVehicleUpdates ignores the rejection angles for raycasts and for sweeps that return blocking hits.

Both angles have default values of Pi/4.

See also

PxVehicleSuspensionSweeps, PxVehicleModifyWheelContacts, PxVehicleContext

PxVehicleSetUpdateMode()

void physx::PxVehicleSetUpdateMode

(

PxVehicleUpdateMode::Enum

vehicleUpdateMode

)

Set the effect of PxVehicleUpdates to be either to modify each vehicle's rigid body actor.

with an acceleration to be applied in the next PhysX SDK update or as an immediate velocity modification.

See PxVehicleContext for the default value.

Call this function before using PxVehicleUpdates for the first time if the default is not the desired behavior or if the settings structure is not explicitly provided.

See also

PxVehicleUpdates, PxVehicleContext

PxVehicleShiftOrigin()

void physx::PxVehicleShiftOrigin	(	const PxVec3 &	shift,
		const PxU32	nbVehicles,
		PxVehicleWheels **	vehicles
	)

Shift the origin of vehicles by the specified vector.

Call this method to adjust the internal data structures of vehicles to reflect the shifted origin location (the shift vector will get subtracted from all world space spatial data).

Note

It is the user's responsibility to keep track of the summed total origin shift and adjust all input/output to/from PhysXVehicle accordingly.

This call will not automatically shift the PhysX scene and its objects. You need to call PxScene::shiftOrigin() seperately to keep the systems in sync.

Parameters

[in]	shift	is the translation vector to shift the origin by.
[in]	nbVehicles	is the number of vehicles in the vehicles array.
[in,out]	vehicles	is an array of all vehicles that should be updated to map to the new scene origin.

PxVehicleSuspensionRaycasts()

void physx::PxVehicleSuspensionRaycasts	(	PxBatchQueryExt *	batchQuery,
		const PxU32	nbVehicles,
		PxVehicleWheels **	vehicles,
		const bool *	vehiclesToRaycast = NULL,
		const PxQueryFlags	queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER
	)

Perform raycasts for all suspension lines for all vehicles.

Parameters

[in]	batchQuery	is a PxBatchQueryExt instance used to specify shader data and functions for the raycast scene queries.
[in]	nbVehicles	is the number of vehicles in the vehicles array.
[in]	vehicles	is an array of all vehicles that are to have a raycast issued from each wheel.
[in]	vehiclesToRaycast	is an array of bools of length nbVehicles that is used to decide if raycasts will be performed for the corresponding vehicle in the vehicles array. If vehiclesToRaycast[i] is true then suspension line raycasts will be performed for vehicles[i]. If vehiclesToRaycast[i] is false then suspension line raycasts will not be performed for vehicles[i].
[in]	queryFlags	filter flags for the batched scene queries

Note

If vehiclesToRaycast is NULL then raycasts are performed for all vehicles in the vehicles array.

If vehiclesToRaycast[i] is false then the vehicle stored in vehicles[i] will automatically use the raycast or sweep hit planes recorded by the most recent suspension sweeps or raycasts for that vehicle. For vehicles far from the camera or not visible on the screen it can be optimal to only perform suspension line raycasts every Nth update rather than every single update. The accuracy of the cached contact plane naturally diminishes as N increase, meaning that wheels might start to hover or intersect the ground for large values of N or even with values close to 1 in conjunction with large vehicle speeds and/or geometry that has low spatial coherence.

Calling setToRestState invalidates any cached hit planes. Prior to calling PxVehicleUpdates each vehicle needs to perform suspension line raycasts or sweeps at least once after instantiation and at least once after calling setToRestState.

Each raycast casts along the suspension travel direction from the position of the top of the wheel at maximum suspension compression to the position of the base of the wheel at maximum droop. Raycasts that start inside a PxShape are subsequently ignored by the corresponding vehicle.

Only blocking hits are supported (PxQueryHitType::eBLOCK).

See also

PxVehicleDrive4W::setToRestState, PxVehicleDriveNW::setToRestState, PxVehicleDriveTank::setToRestState, PxVehicleNoDrive::setToRestState

PxBatchQueryExt::raycast

PxVehicleSuspensionSweeps()

void physx::PxVehicleSuspensionSweeps	(	PxBatchQueryExt *	batchQuery,
		const PxU32	nbVehicles,
		PxVehicleWheels **	vehicles,
		const PxU16	nbHitsPerQuery,
		const bool *	vehiclesToSweep = NULL,
		const PxF32	sweepWidthScale = 1.0f,
		const PxF32	sweepRadiusScale = 1.0f,
		const PxF32	sweepInflation = 0.0f,
		const PxQueryFlags	queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

Perform sweeps for all suspension lines for all vehicles.

Parameters

[in]	batchQuery	is a PxBatchQueryExt instance used to specify shader data and functions for the sweep scene queries.
[in]	nbVehicles	is the number of vehicles in the vehicles array.
[in]	vehicles	is an array of all vehicles that are to have a sweep issued from each wheel.
[in]	nbHitsPerQuery	is the maximum numbers of hits that will be returned for each query.
[in]	vehiclesToSweep	is an array of bools of length nbVehicles that is used to decide if sweeps will be performed for the corresponding vehicle in the vehicles array. If vehiclesToSweep[i] is true then suspension sweeps will be performed for vehicles[i]. If vehiclesToSweep[i] is false then suspension sweeps will not be performed for vehicles[i].
[in]	sweepWidthScale	scales the geometry of the wheel used in the sweep. Values < 1 result in a thinner swept wheel, while values > 1 result in a fatter swept wheel.
[in]	sweepRadiusScale	scales the geometry of the wheel used in the sweep. Values < 1 result in a smaller swept wheel, while values > 1 result in a larger swept wheel.
[in]	sweepInflation	Inflation parameter for sweeps. This is the inflation parameter from PxScene::sweep(). It inflates the shape and makes it rounder, which gives smoother and more reliable normals.
[in]	queryFlags	filter flags for the batched scene queries
[in]	context	the vehicle context to use for the suspension sweeps.

Note

If vehiclesToSweep is NULL then sweeps are performed for all vehicles in the vehicles array.

If vehiclesToSweep[i] is false then the vehicle stored in vehicles[i] will automatically use the most recent sweep or raycast hit planes recorded by the most recent suspension sweeps or raycasts for that vehicle. For vehicles far from the camera or not visible on the screen it can be optimal to only perform suspension queries every Nth update rather than every single update. The accuracy of the cached contact plane naturally diminishes as N increase, meaning that wheels might start to hover or intersect the ground for large values of N or even with values close to 1 in conjunction with large vehicle speeds and/or geometry that has low spatial coherence.

Calling setToRestState invalidates any cached hit planes. Prior to calling PxVehicleUpdates each vehicle needs to perform suspension raycasts or sweeps at least once after instantiation and at least once after calling setToRestState.

Each sweep casts the wheel's shape along the suspension travel direction from the position of the top of the wheel at maximum suspension compression to the position of the base of the wheel at maximum droop. Sweeps that start inside a PxShape are subsequently ignored by the corresponding vehicle.

A scale can be applied to the shape so that a modified shape is swept through the scene. The parameters sweepWidthScale and sweepRadiusScale scale the swept wheel shape in the width and radial directions. It is sometimes a good idea to sweep a thinner wheel to allow contact with other dynamic actors to be resolved first before attempting to drive on them.

Blocking hits (PxQueryHitType::eBLOCK) and non-blocking hits (PxQueryHitType::TOUCH) are supported. If the pre-and post-filter functions of the PxBatchQuery instance are set up to return blocking hits it is recommended to set nbHitsPerQuery = 1. If the filter functions returns touch hits then it is recommended to set nbHitsPerQuery > 1. The exact value depends on the expected complexity of the geometry that lies under the wheel. For complex geometry, especially with dynamic objects, it is recommended to use non-blocking hits. The vehicle update function will analyze all returned hits and choose the most appropriate using the thresholds set in PxVehicleSetSweepHitRejectionAngles.

See also

PxVehicleDrive4W::setToRestState, PxVehicleDriveNW::setToRestState, PxVehicleDriveTank::setToRestState, PxVehicleNoDrive::setToRestState

PxBatchQueryExt::sweep PxScene::sweep()

PxVehicleSetSweepHitRejectionAngles

PxVehicleUpdateCMassLocalPose()

void physx::PxVehicleUpdateCMassLocalPose	(	const PxTransform &	oldCMassLocalPose,
		const PxTransform &	newCMassLocalPose,
		const PxU32	gravityDirection,
		PxVehicleWheels *	vehicle
	)

Reconfigure the vehicle to reflect a new center of mass local pose that has been applied to the actor. The function requires (i) the center of mass local pose that was last used to configure the vehicle and the vehicle's actor, (ii) the new center of mass local pose that has been applied to the vehicle's actor and will now be applied to the vehicle, and (iii) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis)

Parameters

[in]	oldCMassLocalPose	is the center of mass local pose that was last used to configure the vehicle.
[in]	newCMassLocalPose	is the center of mass local pose that will be used to configure the vehicle so that it matches the vehicle's actor.
[in]	gravityDirection	is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (0,0,-1), a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
[in,out]	vehicle	is the vehicle to be updated with a new center of mass local pose.

Note

This function does not update the center of mass of the vehicle actor. That needs to updated separately with PxRigidBody::setCMassLocalPose

The suspension sprung masses are updated so that the natural frequency and damping ratio of the springs are preserved. This involves altering the stiffness and damping rate of the suspension springs.

PxVehicleUpdates()

void physx::PxVehicleUpdates	(	const PxReal	timestep,
		const PxVec3 &	gravity,
		const PxVehicleDrivableSurfaceToTireFrictionPairs &	vehicleDrivableSurfaceToTireFrictionPairs,
		const PxU32	nbVehicles,
		PxVehicleWheels **	vehicles,
		PxVehicleWheelQueryResult *	vehicleWheelQueryResults,
		PxVehicleConcurrentUpdateData *	vehicleConcurrentUpdates = NULL,
		const PxVehicleContext &	context = PxVehicleGetDefaultContext()
	)

Update an array of vehicles by either applying an acceleration to the rigid body actor associated with each vehicle or by an immediate update of the velocity of the actor.

Note

The update mode (acceleration or velocity change) can be selected with PxVehicleSetUpdateMode.

Parameters

[in]	timestep	is the timestep of the update
[in]	gravity	is the value of gravitational acceleration
[in]	vehicleDrivableSurfaceToTireFrictionPairs	describes the mapping between each PxMaterial ptr and an integer representing a surface type. It also stores the friction value for each combination of surface and tire type.
[in]	nbVehicles	is the number of vehicles pointers in the vehicles array
[in,out]	vehicles	is an array of length nbVehicles containing all vehicles to be updated by the specified timestep
[out]	vehicleWheelQueryResults	is an array of length nbVehicles storing the wheel query results of each corresponding vehicle and wheel in the vehicles array. A NULL pointer is permitted.
[out]	vehicleConcurrentUpdates	is an array of length nbVehicles. It is only necessary to specify vehicleConcurrentUpdates if PxVehicleUpdates is called concurrently (also concurrently with PxVehicleUpdateSingleVehicleAndStoreTelemetryData). The element vehicleConcurrentUpdates[i] of the array stores data that is computed for vehicle[i] during PxVehicleUpdates but which cannot be safely written when concurrently called. The data computed and stored in vehicleConcurrentUpdates must be passed to PxVehiclePostUpdates, where it is applied to all relevant actors in sequence. A NULL pointer is permitted.
[in]	context	the vehicle context to use for the vehicle update.

Note

The vehicleWheelQueryResults buffer must persist until the end of PxVehicleUpdates.

The vehicleWheelQueryResults buffer is left unmodified for vehicles with sleeping rigid bodies whose control inputs indicate they should remain inert.

If PxVehicleUpdates is called concurrently then vehicleConcurrentUpdates must be specified. Do not specify vehicleConcurrentUpdates if PxVehicleUpdates is not called concurrently.

The vehicleConcurrentUpdates buffer must persist until the end of PxVehiclePostUpdate.

If any vehicle has one or more disabled wheels (PxVehicleWheelsSimData::disableWheel) then the disabled wheels must not be associated with a PxShape (PxVehicleWheelsSimData::setWheelShapeMapping); the differential of the vehicle must be configured so that no drive torque is delivered to a disabled wheel; and the wheel must have zero rotation speed (PxVehicleWheelsDynData::setWheelRotationSpeed)

Concurrent calls to PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData are permitted if the parameter vehicleConcurrentUpdates is used.

See also

PxVehicleSetUpdateMode, PxVehicleWheelsSimData::disableWheel, PxVehicleWheelsSimData::setWheelShapeMapping, PxVehicleWheelsDynData::setWheelRotationSpeed, PxVehiclePostUpdates

PxvInit()

void physx::PxvInit

(

const PxvOffsetTable &

offsetTable

)

Initialize low-level implementation.

PxvRegisterHeightFields()

void physx::PxvRegisterHeightFields

(

)

Initialize low-level implementation.

PxvTerm()

void physx::PxvTerm

(

)

Shut down low-level implementation.

rotate()

PX_INLINE void physx::rotate	(	const Gu::Box &	src,
		const PxMat34 &	mtx,
		Gu::Box &	obb
	)

recomputes the OBB after an arbitrary transform by a 4x4 matrix.

Parameters

mtx	[in] the transform matrix
obb	[out] the transformed OBB

Variable Documentation

boxVertexTable

PX_PHYSX_COMMON_API const aos::BoolV physx::boxVertexTable

Initial value:

= {
                                        aos::BFFFF(),
                                        aos::BTFFF(),
                                        aos::BFTFF(),
                                        aos::BTTFF(),
                                        aos::BFFTF(),
                                        aos::BTFTF(),
                                        aos::BFTTF(),
                                        aos::BTTTF(),
                                    }

g_GetSingleMaterialMethodTable

PxcGetSingleMaterialMethod physx::g_GetSingleMaterialMethodTable

Initial value:

= 
{
    PxcGetMaterialShape,        
    PxcGetMaterialShape,        
    PxcGetMaterialShape,        
    PxcGetMaterialShape,        
    PxcGetMaterialShape,        
    PxcGetMaterialSoftBody,     
    PxcGetMaterialSoftBody,     
    PxcGetMaterialMesh,         
    PxcGetMaterialHeightField,  
    PxcGetMaterialSoftBody,     
    PxcGetMaterialShape,        
}

PxVehicleComputeTireForce

PX_DEPRECATED typedef void(* physx::PxVehicleComputeTireForce) (const void *shaderData, const PxF32 tireFriction, const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber, const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius, const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad, const PxF32 gravity, const PxF32 recipGravity, PxF32 &wheelTorque, PxF32 &tireLongForceMag, PxF32 &tireLatForceMag, PxF32 &tireAlignMoment)	(	const void *	shaderData,
		const PxF32	tireFriction,
		const PxF32	longSlip,
		const PxF32	latSlip,
		const PxF32	camber,
		const PxF32	wheelOmega,
		const PxF32	wheelRadius,
		const PxF32	recipWheelRadius,
		const PxF32	restTireLoad,
		const PxF32	normalisedTireLoad,
		const PxF32	tireLoad,
		const PxF32	gravity,
		const PxF32	recipGravity,
		PxF32 &	wheelTorque,
		PxF32 &	tireLongForceMag,
		PxF32 &	tireLatForceMag,
		PxF32 &	tireAlignMoment
	)

Prototype of shader function that is used to compute wheel torque and tire forces.

Parameters

[in]	shaderData	is the shader data for the tire being processed. The shader data describes the tire data in the format required by the tire model that is implemented by the shader function.
[in]	tireFriction	is the value of friction for the contact between the tire and the ground.
[in]	longSlip	is the value of longitudinal slip experienced by the tire.
[in]	latSlip	is the value of lateral slip experienced by the tire.
[in]	camber	is the camber angle of the tire in radians.
[in]	wheelOmega	is the rotational speed of the wheel.
[in]	wheelRadius	is the distance from the tire surface to the center of the wheel.
[in]	recipWheelRadius	is the reciprocal of wheelRadius.
[in]	restTireLoad	is the load force experienced by the tire when the vehicle is at rest.
[in]	normalisedTireLoad	is a pre-computed value equal to the load force on the tire divided by restTireLoad.
[in]	tireLoad	is the load force currently experienced by the tire (= restTireLoad*normalisedTireLoad)
[in]	gravity	is the magnitude of gravitational acceleration.
[in]	recipGravity	is the reciprocal of the magnitude of gravitational acceleration.
[out]	wheelTorque	is the torque that is to be applied to the wheel around the wheel's axle.
[out]	tireLongForceMag	is the magnitude of the longitudinal tire force to be applied to the vehicle's rigid body.
[out]	tireLatForceMag	is the magnitude of the lateral tire force to be applied to the vehicle's rigid body.
[out]	tireAlignMoment	is the aligning moment of the tire that is to be applied to the vehicle's rigid body (not currently used).

See also

PxVehicleWheelsDynData::setTireForceShaderFunction, PxVehicleWheelsDynData::setTireForceShaderData