Struct physx::math::PxTransform
source · #[repr(transparent)]pub struct PxTransform { /* private fields */ }
Implementations§
source§impl PxTransform
impl PxTransform
pub fn translation(&self) -> PxVec3
pub fn rotation(&self) -> PxQuat
pub fn translation_mut(&mut self) -> &mut PxVec3
pub fn rotation_mut(&mut self) -> &mut PxQuat
sourcepub fn from_translation(translation: &PxVec3) -> PxTransform
pub fn from_translation(translation: &PxVec3) -> PxTransform
Examples found in repository?
examples/profiler.rs (line 131)
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fn main() {
// Holds a PxFoundation and a PxPhysics.
// Also has an optional Pvd and transport, not enabled by default.
// The default allocator is the one provided by PhysX.
let mut physics = PhysicsFoundation::<_, PxShape>::default();
physics.set_profiler(PrintProfilerCallback {
start: std::time::Instant::now(),
});
// Setup the scene object. The PxScene type alias makes this much cleaner.
// There are lots of unwrap calls due to potential null pointers.
let mut scene: Owner<PxScene> = physics
.create(SceneDescriptor {
gravity: PxVec3::new(0.0, -9.81, 0.0),
on_advance: Some(OnAdvance),
..SceneDescriptor::new(())
})
.unwrap();
let mut material = physics.create_material(0.5, 0.5, 0.6, ()).unwrap();
let ground_plane = physics
.create_plane(PxVec3::new(0.0, 1.0, 0.0), 0.0, material.as_mut(), ())
.unwrap();
// The scene owns actors that are added to it. They can be retrieved using the
// various getters on the scene.
scene.add_static_actor(ground_plane);
let sphere_geo = PxSphereGeometry::new(10.0);
let mut sphere_actor = physics
.create_rigid_dynamic(
PxTransform::from_translation(&PxVec3::new(0.0, 40.0, 100.0)),
&sphere_geo,
material.as_mut(),
10.0,
PxTransform::default(),
(),
)
.unwrap();
sphere_actor.set_angular_damping(0.5);
sphere_actor.set_rigid_body_flag(RigidBodyFlag::EnablePoseIntegrationPreview, true);
scene.add_dynamic_actor(sphere_actor);
for _ in 0..100 {
#[allow(unsafe_code)]
// SAFETY: it's unsafe /shrug
let mut sb = unsafe { ScratchBuffer::new(4) };
// Calls both simulate and fetch_results. More complex simulation update
// controls are not fully supported.
scene
.step(0.1, None::<&mut physx_sys::PxBaseTask>, Some(&mut sb), true)
.expect("error occured during simulation");
}
}
More examples
examples/ball_physx.rs (line 106)
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fn main() {
// Holds a PxFoundation and a PxPhysics.
// Also has an optional Pvd and transport, not enabled by default.
// The default allocator is the one provided by PhysX.
let mut physics = PhysicsFoundation::<_, PxShape>::default();
// Setup the scene object. The PxScene type alias makes this much cleaner.
// There are lots of unwrap calls due to potential null pointers.
let mut scene: Owner<PxScene> = physics
.create(SceneDescriptor {
gravity: PxVec3::new(0.0, -9.81, 0.0),
on_advance: Some(OnAdvance),
..SceneDescriptor::new(())
})
.unwrap();
let mut material = physics.create_material(0.5, 0.5, 0.6, ()).unwrap();
let ground_plane = physics
.create_plane(PxVec3::new(0.0, 1.0, 0.0), 0.0, material.as_mut(), ())
.unwrap();
// The scene owns actors that are added to it. They can be retrieved using the
// various getters on the scene.
scene.add_static_actor(ground_plane);
let sphere_geo = PxSphereGeometry::new(10.0);
let mut sphere_actor = physics
.create_rigid_dynamic(
PxTransform::from_translation(&PxVec3::new(0.0, 40.0, 100.0)),
&sphere_geo,
material.as_mut(),
10.0,
PxTransform::default(),
(),
)
.unwrap();
sphere_actor.set_angular_damping(0.5);
sphere_actor.set_rigid_body_flag(RigidBodyFlag::EnablePoseIntegrationPreview, true);
scene.add_dynamic_actor(sphere_actor);
// SAFETY: scratch buffer creation
#[allow(unsafe_code)]
let mut scratch = unsafe { ScratchBuffer::new(4) };
// Updating
let heights_over_time = (0..100)
.map(|_| {
// Calls both simulate and fetch_results. More complex simulation update
// controls are not fully supported.
scene
.step(
0.1,
None::<&mut physx_sys::PxBaseTask>,
Some(&mut scratch),
true,
)
.expect("error occured during simulation");
// For simplicity, just read out the only dynamic actor in the scene.
// getActiveActors is also supported, it returns a Vec<&mut ActorMap> which has
// a map method that takes a function for each actor type, and `as_<T>` methods
// that return an Option<&mut T>.
let actors = scene.get_dynamic_actors();
actors[0].get_global_position().y() as i32 - 10
})
.collect::<Vec<_>>();
// Draw to stdout
let max_h = 18;
(0..max_h)
.map(|h| {
let h = max_h - 1 - h;
heights_over_time
.iter()
.enumerate()
.map(|(_t, p)| if h == *p { 'o' } else { ' ' })
.collect::<String>()
})
.for_each(|line| println!("{}", line));
}
pub fn from_rotation(rotation: &PxQuat) -> PxTransform
pub fn from_translation_rotation( translation: &PxVec3, rotation: &PxQuat ) -> PxTransform
pub fn get_inverse(&self) -> PxTransform
pub fn get_normalized(&self) -> PxTransform
pub fn is_finite(&self) -> bool
pub fn is_sane(&self) -> bool
pub fn is_valid(&self) -> bool
pub fn rotate(&self, vector: &PxVec3) -> PxVec3
pub fn rotate_inv(&self, vector: &PxVec3) -> PxVec3
pub fn transform(&self, other: &PxTransform) -> PxTransform
pub fn transform_inv(&self, other: &PxTransform) -> PxTransform
pub fn transform_vector(&self, vector: &PxVec3) -> PxVec3
pub fn transform_vector_inv(&self, vector: &PxVec3) -> PxVec3
pub fn transform_plane(&self, plane: &PxPlane) -> PxPlane
pub fn transform_plane_inv(&self, plane: &PxPlane) -> PxPlane
Trait Implementations§
source§impl Class<PxTransform> for PxTransform
impl Class<PxTransform> for PxTransform
source§fn as_ptr(&self) -> *const PxTransform
fn as_ptr(&self) -> *const PxTransform
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.
source§fn as_mut_ptr(&mut self) -> *mut PxTransform
fn as_mut_ptr(&mut self) -> *mut PxTransform
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.
source§impl Clone for PxTransform
impl Clone for PxTransform
source§fn clone(&self) -> PxTransform
fn clone(&self) -> PxTransform
Returns a copy of the value. Read more
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moresource§impl Default for PxTransform
impl Default for PxTransform
source§impl From<PxTransform> for PxTransform
impl From<PxTransform> for PxTransform
source§fn from(value: PxTransform) -> Self
fn from(value: PxTransform) -> Self
Converts to this type from the input type.
source§impl From<PxTransform> for PxTransform
impl From<PxTransform> for PxTransform
source§fn from(transform: PxTransform) -> Self
fn from(transform: PxTransform) -> Self
Converts to this type from the input type.