Struct physx::rigid_dynamic::PxRigidDynamic

#[repr(transparent)]
pub struct PxRigidDynamic<D, Geom: Shape> { /* private fields */ }

A new type wrapper for PxRigidDynamic. Parametrized by it’s user data type, and the type of it’s Shapes.

Trait Implementations

impl<P, D, Geom: Shape> Class<P> for PxRigidDynamic<D, Geom>where
    PxRigidDynamic: Class<P>,

fn as_ptr(&self) -> *const P

Returns a raw const pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer.

fn as_mut_ptr(&mut self) -> *mut P

Returns a raw mut pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer.

impl<D, Geom: Shape> Drop for PxRigidDynamic<D, Geom>

fn drop(&mut self)

Executes the destructor for this type.

impl<D, Geom: Shape> RigidActor for PxRigidDynamic<D, Geom>

type Shape = Geom

fn get_nb_constraints(&self) -> u32

Get the number of constraints on this rigid actor.

fn get_constraints(&mut self) -> Vec<&mut Constraint>

Get the constraints effecting this rigid actor.

fn get_global_pose(&self) -> PxTransform

Get the global pose of this rigid actor. The scale is implicitly 1.0.

fn get_global_position(&self) -> PxVec3

Get the global pose of this rigid actor.

fn get_global_rotation(&self) -> PxQuat

Get the global rotation of this rigid actor.

fn set_global_pose(&mut self, pose: &PxTransform, autowake: bool)

Set the global pose of this rigid actor

fn get_nb_shapes(&self) -> u32

Get number of attached shapes

fn get_shapes(&self) -> Vec<&Self::Shape>

Get a reference to every Shape attached to this actor.

fn get_shapes_mut(&mut self) -> Vec<&mut Self::Shape>

Get a mutable reference to every Shape attached to this actor.

fn set_collision_filter(
    &mut self,
    this_layers: BitFlags<CollisionLayer>,
    other_layers: BitFlags<CollisionLayer>,
    word3: u32,
    word4: u32
)

Set the collision filter. Collisions will only occur if this_layers & other_layers != 0.

fn set_query_filter(&mut self, this_layers: BitFlags<CollisionLayer>)

Set the query filter. Queries will only find this item if queried with one of the flags.

fn attach_shape(&mut self, shape: &mut Self::Shape) -> bool

Attach a shape.

fn detach_shape(&mut self, shape: &mut Self::Shape)

Detach a shape.

impl<D, Geom: Shape> RigidDynamic for PxRigidDynamic<D, Geom>

fn new(
    physics: &mut impl Physics,
    transform: PxTransform,
    geometry: &impl Geometry,
    material: &mut <Self::Shape as Shape>::Material,
    density: f32,
    shape_transform: PxTransform,
    user_data: Self::UserData
) -> Option<Owner<Self>>

Create a new RigidDynamic.

unsafe fn from_raw(
    ptr: *mut PxRigidDynamic,
    user_data: Self::UserData
) -> Option<Owner<Self>>

Create a new Owner wrapper around a raw pointer.

fn get_user_data(&self) -> &Self::UserData

Get the user data.

fn get_user_data_mut(&mut self) -> &mut Self::UserData

Get the user data.

fn get_contact_report_threshold(&self) -> f32

Get the contact report threshold. If the force between two actors exceeds this threshold for either actor, a contact report will be generated in accordance with the filter shader.

fn get_kinematic_target(&self) -> Option<PxTransform>

Returns a copy of the target transform if the actor is knematically controlled and has a target set, otherwise it returns None.

fn get_rigid_dynamic_lock_flags(&self) -> RigidDynamicLockFlags

Get the lock flags.

fn get_sleep_threshold(&self) -> f32

Get the sleep threshold. If the actor’s mass-normalized kinetic energy is below this value, the actor might go to sleep.

fn get_solver_iteration_counts(&self) -> (u32, u32)

Get the number of (position, velocity) iterations done by the solver.

fn get_stabilization_threshold(&self) -> f32

Get the stabilization threshold. Actors with mass-normalized kinetic energy may participate in stabilization.

fn get_wake_counter(&self) -> f32

Get the wake counter.

fn is_sleeping(&self) -> bool

Returns true if the actor is sleeping. Sleeping actors are not simulated. If an actor is sleeping, it’s linear and angular velocities are zero, no force or torque updates are pending, and the wake counter is zero.

fn put_to_sleep(&mut self)

Put the actor to sleep. Pending force and torque is cleared, and the wake counter and linear and angular velocities are all set to zero.

fn set_contact_report_threshold(&mut self, threshold: f32)

Set the contact report threshold, used when determining if a contact report should be generated.

fn set_kinematic_target(&mut self, target: &PxTransform)

Set the kinematic target of the actor. Set an actor as kinematic using RigidBodyFlag::Kinematic. The actor will have it’s velocity set such that it gets moved to the desired pose in a single timestep, then the velocity will be zeroed. Movement along a path requires continuous calls. Consecutive calls in a single frame will overwrite the prior.

fn set_rigid_dynamic_lock_flag(&mut self, flag: RigidDynamicLockFlag, value: bool)

Set a lock flag, preventing movement along or about an axis.

fn set_rigid_dynamic_lock_flags(&mut self, flags: RigidDynamicLockFlags)

Set the lock flags.

fn set_sleep_threshold(&mut self, threshold: f32)

Set the mass normalized kinetic energy under which an actor is a candidate for being slept. Default is 5e-5f * PxTolerancesScale.speed ^ 2. Value is clamped to range [0.0 .. ].

fn set_solver_iteration_counts(
    &mut self,
    min_position_iterations: u32,
    min_velocity_iterations: u32
)

Set the number of solver iterations for the position and velocity solvers clamped to range [1..=255]. Defualt is position = 4 and velocity = 1. If bodies are oscillating, increase the position iterations. If bodies are being depenetrated too quickly, increase the velocity iterations.

fn set_stabilization_threshold(&mut self, threshold: f32)

Set the stabilization threshold. Actors with mass-normalized kinetic energy above this value will not participate in stabilization.

fn set_wake_counter(&mut self, wake_counter: f32)

Sets the wake counter. This is the minimum amount of time until an actor must spend below the sleep threshold before it is put to sleep. Setting this to a positive value will wake the actor. Default is 0.4, value is in seconds.

fn wake_up(&mut self)

Wake the actor. May wake touching actors. Sets the wake counter to the wake_counter_reset_value set at scene creation.

impl<D: Send, Geom: Shape + Send> Send for PxRigidDynamic<D, Geom>

impl<D: Sync, Geom: Shape + Sync> Sync for PxRigidDynamic<D, Geom>