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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxImmediateMode.h File Reference</title>
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<h1>PxImmediateMode.h File Reference</h1><code>#include "<a class="el" href="PxPhysXConfig_8h-source.html">PxPhysXConfig.h</a>"</code><br>
<code>#include "solver/PxSolverDefs.h"</code><br>
<code>#include "collision/PxCollisionDefs.h"</code><br>
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Include dependency graph for PxImmediateMode.h:</div>
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<a href="PxImmediateMode_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Classes</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structPxRigidBodyData.html">PxRigidBodyData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Structure to store rigid body properties. <a href="structPxRigidBodyData.html#_details">More...</a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxContactRecorder.html">PxContactRecorder</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Callback class to record contact points produced by <a class="el" href="group__immediatemode.html#g43ee6393438e91aa05bb2790559104b7">immediate::PxGenerateContacts</a>. <a href="classPxContactRecorder.html#_details">More...</a><br></td></tr>
<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#g56e360f21e02eeed788a58782e77316a">PxConstructSolverBodies</a> (const <a class="el" href="structPxRigidBodyData.html">PxRigidBodyData</a> *inRigidData, PxSolverBodyData *outSolverBodyData, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, const <a class="el" href="classPxVec3.html">PxVec3</a> &gravity, const PxReal dt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. <a href="group__immediatemode.html#g56e360f21e02eeed788a58782e77316a"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gb1ff672bf5a0569d6cc5f137142b1c1d">PxConstructStaticSolverBody</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &globalPose, PxSolverBodyData &solverBodyData)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs a PxSolverBodyData structure for a static body at a given pose. <a href="group__immediatemode.html#gb1ff672bf5a0569d6cc5f137142b1c1d"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#g06ca05e94083ad8df2c5377cf692b4bf">PxBatchConstraints</a> (PxSolverConstraintDesc *solverConstraintDescs, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbConstraints, PxSolverBody *solverBodies, <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, PxConstraintBatchHeader *outBatchHeaders, PxSolverConstraintDesc *outOrderedConstraintDescs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Groups together sets of independent PxSolverConstraintDesc objects to be solved using SIMD SOA approach. <a href="group__immediatemode.html#g06ca05e94083ad8df2c5377cf692b4bf"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#g3dc6c7ca660d5352b3da3198ab5036c8">PxCreateContactConstraints</a> (PxConstraintBatchHeader *batchHeader, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, PxSolverContactDesc *contactDescs, PxConstraintAllocator &allocator, PxReal invDt, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal correlationDistance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the PxConstraintAllocator provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. <a href="group__immediatemode.html#g3dc6c7ca660d5352b3da3198ab5036c8"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gc016be640f563f4ec9acd6b33fecba1e">PxCreateJointConstraints</a> (PxConstraintBatchHeader *batchHeader, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbHeaders, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, PxReal dt, PxReal invDt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. <a href="group__immediatemode.html#gc016be640f563f4ec9acd6b33fecba1e"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#g730ffbd6f8687f7909131b37b1cc0c05">PxCreateJointConstraintsWithShaders</a> (PxConstraintBatchHeader *batchHeader, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="el" href="classPxConstraint.html">PxConstraint</a> **constraints, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &allocator, PxReal dt, PxReal invDt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints. <a href="group__immediatemode.html#g730ffbd6f8687f7909131b37b1cc0c05"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gf5de05898680bb26c7b24012acb0336d">PxSolveConstraints</a> (PxConstraintBatchHeader *batchHeaders, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, PxSolverConstraintDesc *solverConstraintDescs, PxSolverBody *solverBodies, <a class="el" href="classPxVec3.html">PxVec3</a> *linearMotionVelocity, <a class="el" href="classPxVec3.html">PxVec3</a> *angularMotionVelocity, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbSolverBodies, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbPositionIterations, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbVelocityIterations)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures. Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities. <a href="group__immediatemode.html#gf5de05898680bb26c7b24012acb0336d"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#gbda17f364d0771bc7c0613ca0761cb73">PxIntegrateSolverBodies</a> (PxSolverBodyData *solverBodyData, PxSolverBody *solverBody, const <a class="el" href="classPxVec3.html">PxVec3</a> *linearMotionVelocity, const <a class="el" href="classPxVec3.html">PxVec3</a> *angularMotionState, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodiesToIntegrate, PxReal dt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBodyData stores all the body's velocity data. <a href="group__immediatemode.html#gbda17f364d0771bc7c0613ca0761cb73"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_C_EXPORT PX_PHYSX_CORE_API bool </td><td class="memItemRight" valign="bottom"><a class="el" href="group__immediatemode.html#g43ee6393438e91aa05bb2790559104b7">PxGenerateContacts</a> (const <a class="el" href="classPxGeometry.html">PxGeometry</a> *const *geom0, const <a class="el" href="classPxGeometry.html">PxGeometry</a> *const *geom1, const <a class="el" href="classPxTransform.html">PxTransform</a> *pose0, const <a class="el" href="classPxTransform.html">PxTransform</a> *pose1, PxCache *contactCache, const <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> nbPairs, <a class="el" href="classPxContactRecorder.html">PxContactRecorder</a> &contactRecorder, const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator &allocator)</td></tr>
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