A structure to represent a potential CCD interaction between a pair of shapes. More...

#include <PxsCCD.h>

Collaboration diagram for physx::PxsCCDPair:

Public Types
enum	E_TOIType { eEstimate , ePrecise }
	Defines whether this is an estimated TOI or an accurate TOI. More...

Public Member Functions
PxReal	sweepFindToi (PxcNpThreadContext &threadContext, PxReal dt, PxU32 pass, PxReal ccdThreshold)
	Perform a precise sweep for this pair.

PxReal	sweepEstimateToi (PxReal ccdThreshold)
	Performs a sweep estimation for this pair.

bool	sweepAdvanceToToi (PxReal dt, bool clipTrajectoryToToi)
	Advances this pair to the TOI.

void	updateShapes ()
	Updates the transforms of the shapes involved in this pair.

Public Attributes
PxsRigidBody *	mBa0

PxsRigidBody *	mBa1

PxsCCDShape *	mCCDShape0

PxsCCDShape *	mCCDShape1

PxVec3	mMinToiNormal

PxReal	mMinToi

PxReal	mPenetrationPostStep

PxVec3	mMinToiPoint

PxReal	mPenetration

PxsContactManager *	mCm

PxU32	mIslandId

PxGeometryType::Enum	mG0

PxGeometryType::Enum	mG1

bool	mIsEarliestToiHit

bool	mIsModifiable

PxU32	mFaceIndex

PxU16	mMaterialIndex0

PxU16	mMaterialIndex1

PxReal	mDynamicFriction

PxReal	mStaticFriction

PxReal	mRestitution

PxU32	mEstimatePass

PxReal	mAppliedForce

PxReal	mMaxImpulse

E_TOIType	mToiType

bool	mHasFriction

Detailed Description

A structure to represent a potential CCD interaction between a pair of shapes.

Member Enumeration Documentation

◆ E_TOIType

enum physx::PxsCCDPair::E_TOIType

Defines whether this is an estimated TOI or an accurate TOI.

We store pairs in a priority queue based on the TOIs. We use cheap estimates to cull away work and lazily evaluate TOIs. This means that an element in the priority queue may either be an estimate or a precise result.

Member Function Documentation

◆ sweepAdvanceToToi()

bool PxsCCDPair::sweepAdvanceToToi	(	PxReal	dt,
		bool	clipTrajectoryToToi
	)

Advances this pair to the TOI.

Parameters

[in]	dt	The time-step
[in]	clipTrajectoryToToi	Indicates whether we clip the body's trajectory to the end pose. Only done in the final pass

Returns: Whether the advance was successful. An advance will be unsuccessful if body bodies were already updated.

◆ sweepEstimateToi()

PxReal PxsCCDPair::sweepEstimateToi ( PxReal ccdThreshold )

Performs a sweep estimation for this pair.

Returns: The normalized TOI. <= 1.0 indicates a potential hit, otherwise PX_MAX_REAL.

◆ sweepFindToi()

PxReal PxsCCDPair::sweepFindToi	(	PxcNpThreadContext &	threadContext,
		PxReal	dt,
		PxU32	pass,
		PxReal	ccdThreshold
	)

Perform a precise sweep for this pair.

Parameters

[in]	threadContext	The per-thread context
[in]	dt	The time-step
[in]	pass	The current CCD pass

Returns: The normalized TOI. <=1.0 indicates a hit. Otherwise PX_MAX_REAL.

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

RavEngine/deps/physx/physx/source/lowlevel/software/include/PxsCCD.h
RavEngine/deps/physx/physx/source/lowlevel/software/src/PxsCCD.cpp

Public Types

Public Member Functions