NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxImmediateMode.h Source File

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+00029 
+00030 #ifndef PX_PHYSICS_IMMEDIATE_MODE
+00031 #define PX_PHYSICS_IMMEDIATE_MODE
+00032 
+00035 #include "PxPhysXConfig.h"
+00036 #include "solver/PxSolverDefs.h"
+00037 #include "collision/PxCollisionDefs.h"
+00038 
+00039 #if !PX_DOXYGEN
+00040 namespace physx
+00041 {
+00042 #endif
+00043 
+00044 #if !PX_DOXYGEN
+00045 namespace immediate
+00046 {
+00047 #endif
+00048 
+00052     struct PxRigidBodyData
+00053     {
+00054         PX_ALIGN(16, PxVec3 linearVelocity);                
+00055         PxReal invMass;                                     
+00056         PxVec3 angularVelocity;                             
+00057         PxReal maxDepenetrationVelocity;                    
+00058         PxVec3 invInertia;                                  
+00059         PxReal maxContactImpulse;                           
+00060         PxTransform body2World;                             
+00061         PxReal linearDamping;                               
+00062         PxReal angularDamping;                              
+00063         PxReal maxLinearVelocitySq;                         
+00064         PxReal maxAngularVelocitySq;                        
+00065         PxU32 pad;                                          
+00066     };
+00067 
+00071     class PxContactRecorder
+00072     {
+00073     public:
+00081         virtual bool recordContacts(const Gu::ContactPoint* contactPoints, const PxU32 nbContacts, const PxU32 index) = 0;
+00082 
+00083         virtual ~PxContactRecorder(){}
+00084     };
+00085 
+00094     PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData, PxSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt);
+00095 
+00101     PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBody(const PxTransform& globalPose,PxSolverBodyData& solverBodyData);
+00102 
+00118     PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints(PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody* solverBodies, PxU32 nbBodies, PxConstraintBatchHeader* outBatchHeaders,
+00119         PxSolverConstraintDesc* outOrderedConstraintDescs);
+00120 
+00139     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverContactDesc* contactDescs,
+00140         PxConstraintAllocator& allocator, PxReal invDt, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal correlationDistance);
+00141 
+00152     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);
+00153 
+00165     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeader, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);
+00166 
+00179     PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxSolverConstraintDesc* solverConstraintDescs, PxSolverBody* solverBodies,
+00180         PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations);
+00181 
+00192     PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, const PxU32 nbBodiesToIntegrate, PxReal dt);
+00193 
+00214     PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(const PxGeometry* const * geom0, const PxGeometry* const * geom1, const PxTransform* pose0, const PxTransform* pose1, PxCache* contactCache, const PxU32 nbPairs, PxContactRecorder& contactRecorder,
+00215         const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator& allocator);
+00216 
+00217 #if !PX_DOXYGEN
+00218 }
+00219 #endif
+00220 
+00221 
+00222 #if !PX_DOXYGEN
+00223 }
+00224 #endif
+00225 
+00227 #endif
+00228 
+