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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxImmediateMode.h Source File</title>
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<h1>PxImmediateMode.h</h1><a href="PxImmediateMode_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">//</span>
<a name="l00002"></a>00002 <span class="comment">// Redistribution and use in source and binary forms, with or without</span>
<a name="l00003"></a>00003 <span class="comment">// modification, are permitted provided that the following conditions</span>
<a name="l00004"></a>00004 <span class="comment">// are met:</span>
<a name="l00005"></a>00005 <span class="comment">// * Redistributions of source code must retain the above copyright</span>
<a name="l00006"></a>00006 <span class="comment">// notice, this list of conditions and the following disclaimer.</span>
<a name="l00007"></a>00007 <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00008"></a>00008 <span class="comment">// notice, this list of conditions and the following disclaimer in the</span>
<a name="l00009"></a>00009 <span class="comment">// documentation and/or other materials provided with the distribution.</span>
<a name="l00010"></a>00010 <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span>
<a name="l00011"></a>00011 <span class="comment">// contributors may be used to endorse or promote products derived</span>
<a name="l00012"></a>00012 <span class="comment">// from this software without specific prior written permission.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY</span>
<a name="l00015"></a>00015 <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span>
<a name="l00016"></a>00016 <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span>
<a name="l00017"></a>00017 <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span>
<a name="l00018"></a>00018 <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span>
<a name="l00019"></a>00019 <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span>
<a name="l00020"></a>00020 <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span>
<a name="l00021"></a>00021 <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span>
<a name="l00022"></a>00022 <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00023"></a>00023 <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span>
<a name="l00024"></a>00024 <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.</span>
<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef PX_PHYSICS_IMMEDIATE_MODE</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_IMMEDIATE_MODE</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
<a name="l00036"></a>00036 <span class="preprocessor">#include "solver/PxSolverDefs.h"</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "collision/PxCollisionDefs.h"</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a>00044 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="keyword">namespace </span>immediate
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="preprocessor">#endif</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00052"></a><a class="code" href="structPxRigidBodyData.html">00052</a> <span class="keyword">struct </span><a class="code" href="structPxRigidBodyData.html" title="Structure to store rigid body properties.">PxRigidBodyData</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <a class="code" href="group__foundation.html#g95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> linearVelocity);
<a name="l00055"></a><a class="code" href="structPxRigidBodyData.html#4edc039e489d03db2066b993cacf5c8e">00055</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMass;
<a name="l00056"></a><a class="code" href="structPxRigidBodyData.html#595b23f708d54d34a433f58e9e53da99">00056</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> angularVelocity;
<a name="l00057"></a><a class="code" href="structPxRigidBodyData.html#2e1756608c49188883e670d0318dcc06">00057</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxDepenetrationVelocity;
<a name="l00058"></a><a class="code" href="structPxRigidBodyData.html#dbfbf35988384b74c8c9fa4280a7c45b">00058</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> invInertia;
<a name="l00059"></a><a class="code" href="structPxRigidBodyData.html#660b46913c44f1c050e2e1559c45ddd1">00059</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxContactImpulse;
<a name="l00060"></a><a class="code" href="structPxRigidBodyData.html#99ed9fc3a0742e76ee3410c5e3ef72fc">00060</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> body2World;
<a name="l00061"></a><a class="code" href="structPxRigidBodyData.html#8623352bac79ed126892a104e1aab68d">00061</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> linearDamping;
<a name="l00062"></a><a class="code" href="structPxRigidBodyData.html#94c9d8403adad700ceeffa7005991d7e">00062</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angularDamping;
<a name="l00063"></a><a class="code" href="structPxRigidBodyData.html#fe4e0a693288590b7ce8383bc3e2cd79">00063</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxLinearVelocitySq;
<a name="l00064"></a><a class="code" href="structPxRigidBodyData.html#a523e1704f34568a599f4744f0b6cbbc">00064</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxAngularVelocitySq;
<a name="l00065"></a><a class="code" href="structPxRigidBodyData.html#1bb93cacad36fcc17492afe83718f8c7">00065</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> pad;
<a name="l00066"></a>00066 };
<a name="l00067"></a>00067
<a name="l00071"></a><a class="code" href="classPxContactRecorder.html">00071</a> <span class="keyword">class </span><a class="code" href="classPxContactRecorder.html" title="Callback class to record contact points produced by immediate::PxGenerateContacts...">PxContactRecorder</a>
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keyword">public</span>:
<a name="l00081"></a>00081 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> recordContacts(<span class="keyword">const</span> Gu::ContactPoint* contactPoints, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbContacts, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> index) = 0;
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classPxContactRecorder.html#0438ffde649943dc78286c3e3d0bce86">00083</a> <span class="keyword">virtual</span> <a class="code" href="classPxContactRecorder.html#0438ffde649943dc78286c3e3d0bce86">~PxContactRecorder</a>(){}
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085
<a name="l00094"></a>00094 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#g56e360f21e02eeed788a58782e77316a" title="Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity...">PxConstructSolverBodies</a>(<span class="keyword">const</span> <a class="code" href="structPxRigidBodyData.html" title="Structure to store rigid body properties.">PxRigidBodyData</a>* inRigidData, PxSolverBodyData* outSolverBodyData, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbBodies, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& gravity, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt);
<a name="l00095"></a>00095
<a name="l00101"></a>00101 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#gb1ff672bf5a0569d6cc5f137142b1c1d" title="Constructs a PxSolverBodyData structure for a static body at a given pose.">PxConstructStaticSolverBody</a>(<span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& globalPose,PxSolverBodyData& solverBodyData);
<a name="l00102"></a>00102
<a name="l00118"></a>00118 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> <a class="code" href="group__immediatemode.html#g06ca05e94083ad8df2c5377cf692b4bf" title="Groups together sets of independent PxSolverConstraintDesc objects to be solved using...">PxBatchConstraints</a>(PxSolverConstraintDesc* solverConstraintDescs, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbConstraints, PxSolverBody* solverBodies, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbBodies, PxConstraintBatchHeader* outBatchHeaders,
<a name="l00119"></a>00119 PxSolverConstraintDesc* outOrderedConstraintDescs);
<a name="l00120"></a>00120
<a name="l00139"></a>00139 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#g3dc6c7ca660d5352b3da3198ab5036c8" title="Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints...">PxCreateContactConstraints</a>(PxConstraintBatchHeader* batchHeader, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbHeaders, PxSolverContactDesc* contactDescs,
<a name="l00140"></a>00140 PxConstraintAllocator& allocator, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> bounceThreshold, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> frictionOffsetThreshold, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> correlationDistance);
<a name="l00141"></a>00141
<a name="l00152"></a>00152 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#gc016be640f563f4ec9acd6b33fecba1e" title="Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints...">PxCreateJointConstraints</a>(PxConstraintBatchHeader* batchHeader, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt);
<a name="l00153"></a>00153
<a name="l00165"></a>00165 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#g730ffbd6f8687f7909131b37b1cc0c05" title="Creates a set of joint constraint blocks. This function runs joint shaders defined...">PxCreateJointConstraintsWithShaders</a>(PxConstraintBatchHeader* batchHeader, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbBatchHeaders, <a class="code" href="classPxConstraint.html" title="A plugin class for implementing constraints.">PxConstraint</a>** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt);
<a name="l00166"></a>00166
<a name="l00179"></a>00179 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#gf5de05898680bb26c7b24012acb0336d" title="Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader...">PxSolveConstraints</a>(PxConstraintBatchHeader* batchHeaders, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbBatchHeaders, PxSolverConstraintDesc* solverConstraintDescs, PxSolverBody* solverBodies,
<a name="l00180"></a>00180 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* linearMotionVelocity, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* angularMotionVelocity, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbSolverBodies, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbPositionIterations, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbVelocityIterations);
<a name="l00181"></a>00181
<a name="l00192"></a>00192 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#gbda17f364d0771bc7c0613ca0761cb73" title="Integrates a rigid body, returning the new velocities and transforms. After this...">PxIntegrateSolverBodies</a>(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* linearMotionVelocity, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* angularMotionState, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbBodiesToIntegrate, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt);
<a name="l00193"></a>00193
<a name="l00214"></a>00214 <a class="code" href="Pxc_8h.html#ea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#g4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#g43ee6393438e91aa05bb2790559104b7">PxGenerateContacts</a>(<span class="keyword">const</span> <a class="code" href="classPxGeometry.html" title="A geometry object.">PxGeometry</a>* <span class="keyword">const</span> * geom0, <span class="keyword">const</span> <a class="code" href="classPxGeometry.html" title="A geometry object.">PxGeometry</a>* <span class="keyword">const</span> * geom1, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>* pose0, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>* pose1, PxCache* contactCache, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> nbPairs, <a class="code" href="classPxContactRecorder.html" title="Callback class to record contact points produced by immediate::PxGenerateContacts...">PxContactRecorder</a>& contactRecorder,
<a name="l00215"></a>00215 <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> contactDistance, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> meshContactMargin, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> toleranceLength, PxCacheAllocator& allocator);
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00218"></a>00218 <span class="preprocessor"></span>}
<a name="l00219"></a>00219 <span class="preprocessor">#endif</span>
<a name="l00220"></a>00220 <span class="preprocessor"></span>
<a name="l00221"></a>00221
<a name="l00222"></a>00222 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00223"></a>00223 <span class="preprocessor"></span>}
<a name="l00224"></a>00224 <span class="preprocessor">#endif</span>
<a name="l00225"></a>00225 <span class="preprocessor"></span>
<a name="l00227"></a>00227 <span class="preprocessor">#endif</span>
<a name="l00228"></a>00228 <span class="preprocessor"></span>
</pre></div></div>
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