< GeeXLab Reference Guide />

gh_physx4 library

Description

gh_physx4 is the module that manages NVIDIA PhysX 4 engine. Thanks to gh_physx4, you will be able to play with rigid body collisions, and handling joints. Clothes and particles are no longer part of PhysX 4.

Number of functions: 75

gh_physx4.actor_add_force ()
gh_physx4.actor_add_force_at_position ()
gh_physx4.actor_apply_transform ()
gh_physx4.actor_get_transform_mat16 ()
gh_physx4.actor_get_transform_pos_qrot ()
gh_physx4.actor_clear_forces ()
gh_physx4.actor_get_angular_speed2 ()
gh_physx4.actor_get_angular_velocity ()
gh_physx4.actor_get_linear_speed2 ()
gh_physx4.actor_get_linear_velocity ()
gh_physx4.actor_get_orientation ()
gh_physx4.actor_get_position ()
gh_physx4.actor_get_sleep_threshold ()
gh_physx4.actor_is_sleeping ()
gh_physx4.actor_kill ()
gh_physx4.actor_put_to_sleep ()
gh_physx4.actor_set_3d_object ()
gh_physx4.actor_set_angular_damping ()
gh_physx4.actor_set_angular_velocity ()
gh_physx4.actor_set_euler_angles ()
gh_physx4.actor_set_gravity_state ()
gh_physx4.actor_set_kinematic_state ()
gh_physx4.actor_set_kinematic_target ()
gh_physx4.actor_set_linear_damping ()
gh_physx4.actor_set_linear_velocity ()
gh_physx4.actor_set_material ()
gh_physx4.actor_set_orientation ()
gh_physx4.actor_set_position ()
gh_physx4.actor_set_sleep_threshold ()
gh_physx4.actor_set_solver_iterations ()
gh_physx4.actor_update_mass ()
gh_physx4.actor_wake_up ()
gh_physx4.check_results ()
gh_physx4.create_actor_box ()
gh_physx4.create_actor_capsule ()
gh_physx4.create_actor_mesh ()
gh_physx4.create_actor_mesh_v2 ()
gh_physx4.create_actor_plane ()
gh_physx4.create_actor_sphere ()
gh_physx4.create_material ()
gh_physx4.create_scene ()
gh_physx4.create_scene_broadphase_abp ()
gh_physx4.create_scene_broadphase_gpu ()
gh_physx4.create_scene_broadphase_mbp ()
gh_physx4.create_scene_broadphase_sap ()
gh_physx4.fetch_results ()
gh_physx4.gpu_get_clock_frequency_khz ()
gh_physx4.gpu_get_name ()
gh_physx4.gpu_get_num_multiprocessors ()
gh_physx4.gpu_get_total_memory_size_mb ()
gh_physx4.gpu_is_supported ()
gh_physx4.joint_create ()
gh_physx4.joint_distance_set_distances ()
gh_physx4.joint_distance_set_spring ()
gh_physx4.joint_kill ()
gh_physx4.joint_prismatic_set_limits ()
gh_physx4.joint_revolute_set_angular_limits ()
gh_physx4.joint_revolute_set_rotational_limits ()
gh_physx4.joint_set_break_force ()
gh_physx4.joint_set_motor_params ()
gh_physx4.joint_spherical_set_limit_cone ()
gh_physx4.kill_material ()
gh_physx4.run_simulation ()
gh_physx4.run_simulation_step ()
gh_physx4.scene_sync_3d_objects ()
gh_physx4.set_max_depenetration_velocity ()
gh_physx4.set_scene_gravity ()
gh_physx4.set_simulation_scales ()
gh_physx4.set_solver_iteration_counts ()
gh_physx4.start ()
gh_physx4.stop ()
gh_physx4.update_material ()
gh_physx4.scene_sync_3d_objects_v2 ()
gh_physx4.scene_get_num_active_actors ()
gh_physx4.create_scene_set_solver_type ()

actor_add_force

Description

Adds a force to an actor.

Syntax

gh_physx4.actor_add_force( actor_id, fx, fy, fz )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
fx, fy, fz [REAL]: force

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_add_force(actor_id, fx, fy, fz)

actor_add_force_at_position

Description

Adds a force to an actor at a particular position.

Syntax

gh_physx4.actor_add_force_at_position( actor_id, fx, fy, fz, px, py, pz )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
fx, fy, fz [REAL]: force
px, py, pz [REAL]: position

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_add_force_at_position(actor_id, fx, fy, fz, px, py, pz)

actor_apply_transform

Description

Applies the transformation (position + orientation) of an PhysX actor to a regular 3D object (a mesh for example).

Syntax

gh_physx4.actor_apply_transform( actor_id, obj_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
obj_id [ID]: object identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_apply_transform(actor_id, obj_id)

actor_get_transform_mat16

Description

Returns the transformation matrix of a physics actor.

Syntax

m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 = gh_physx4.actor_get_transform_mat16( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 [REAL]: the 16 floats that make the 4x4 matrix

Code sample


m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 = gh_physx4.actor_get_transform_mat16(actor_id)

actor_get_transform_pos_qrot

Description

Returns the position and orientation (quaternion) of a physics actor.

Syntax

px, py, pz, qx, qy, qz, qw = gh_physx4.actor_get_transform_pos_qrot( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

px, py, pz [REAL]: position
qx, qy, qz, qw [REAL]: rotation quaternion

Code sample


px, py, pz, qx, qy, qz, qw = gh_physx4.actor_get_transform_pos_qrot(actor_id)

actor_clear_forces

Description

Clears (resets) all forces that act on an actor.

Syntax

gh_physx4.actor_clear_forces( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_clear_forces(actor_id)

actor_get_angular_speed2

Description

Gets the squared angular speed of an actor.

Syntax

s = gh_physx4.actor_get_angular_speed2( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

s [REAL]: squared speed

Code sample


s = gh_physx4.actor_get_angular_speed2(actor_id)

actor_get_angular_velocity

Description

Gets the angular velocity of an actor.

Syntax

x, y, z = gh_physx4.actor_get_angular_velocity( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

x, y, z [REAL]: velocity vector

Code sample


x, y, z = gh_physx4.actor_get_angular_velocity(actor_id)

actor_get_linear_speed2

Description

Gets the squared linear speed of an actor.

Syntax

speed = gh_physx4.actor_get_linear_speed2( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

speed [REAL]: squared speed

Code sample


speed = gh_physx4.actor_get_linear_speed2(actor_id)

actor_get_linear_velocity

Description

Gets the linear velocity of an actor.

Syntax

x, y, z = gh_physx4.actor_get_linear_velocity( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

x, y, z [REAL]: velocity vector

Code sample


x, y, z = ggh_physx4.actor_get_linear_velocity(actor_id)

actor_get_orientation

Description

Gets the orientation of an actor (a quaternion).

Syntax

x, y, z, w = gh_physx4.actor_get_orientation( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

x, y, z, w [REAL]: orientation

Code sample


x, y, z, w = gh_physx4.actor_get_orientation(actor_id)

actor_get_position

Description

Gets the global position of an actor.

Syntax

x, y, z = gh_physx4.actor_get_position( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

x, y, z [REAL]: position

Code sample


x, y, z = gh_physx4.actor_get_position(actor_id)

actor_get_sleep_threshold

Description

Gets the sleep threshold.

Syntax

thres = gh_physx4.actor_get_sleep_threshold( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

thres [REAL]: threshold

Code sample


thres = gh_physx4.actor_get_sleep_threshold(actor_id)

actor_is_sleeping

Description

Gets the sleeping state of an actor.

Syntax

state = gh_physx4.actor_is_sleeping( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

state [BOOLEAN]: state (0 or 1)

Code sample


is_sleeping = gh_physx4.actor_is_sleeping(actor_id)

actor_kill

Description

Destroys an actor.

Syntax

gh_physx4.actor_kill( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_kill(actor_id)

actor_put_to_sleep

Description

Forces an actor to sleep.

Syntax

gh_physx4.actor_put_to_sleep( actor_id )

Languages

Parameters

actor_id [ID]: PhysX actor identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_put_to_sleep(actor_id)

actor_set_3d_object

Description

Allows to associate a physics actor and a 3D object. Useful for the scene_sync_3d_objects() function.

Syntax

gh_physx4.actor_set_3d_object( actor_id, o3d_id )

Languages

Parameters

actor_id [ID]: actor identifier
o3d_id [ID]: 3d object identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_3d_object(actor_id, o3d_id)

actor_set_angular_damping

Description

Sets the angular damping of an actor.

Syntax

gh_physx4.actor_set_angular_damping( actor_id, damping )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
damping [REAL]: damping

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_angular_damping(actor_id, 0.2)

actor_set_angular_velocity

Description

Sets the angular velocity of an actor.

Syntax

gh_physx4.actor_set_angular_velocity( actor_id, vx, vy, vz )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
vx, vy, vz [REAL]: 3D velocity vector

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_angular_velocity(actor_id, 0.8, 12, 1.6)

actor_set_euler_angles

Description

Sets the orientation of an actor using Euler's angles.

Syntax

gh_physx4.actor_set_euler_angles( actor_id, pitch, yaw, roll )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
pitch, yaw, roll [REAL]: Eurler's angles in degrees

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_euler_angles(actor_id, 90, 0, 0)

actor_set_gravity_state

Description

Sets the gravity state of an actor.

Syntax

gh_physx4.actor_set_gravity_state( actor_id, state )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
state [BOOLEAN]: state (0 or 1)

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_gravity_state(actor_id, 1)

actor_set_kinematic_state

Description

Sets the kinematic state of an actor.

Syntax

gh_physx4.actor_set_kinematic_state( actor_id, state )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
state [BOOLEAN]: state (0 or 1)

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_kinematic_state(actor_id, 1)

actor_set_kinematic_target

Description

Moves kinematically controlled dynamic actors through the 3d world.

Syntax

gh_physx4.actor_set_kinematic_target( actor_id, px, py, pz, pitch, yaw, roll )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
px, py, pz [REAL]: destination position
pitch, yaw, roll [REAL]: destination orientation

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_kinematic_target(actor_id, px, py, pz, pitch, yaw, roll)

actor_set_linear_damping

Description

Sets the linear damping of an actor.

Syntax

gh_physx4.actor_set_linear_damping( actor_id, damping )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
damping [REAL]: damping

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_linear_damping(actor_id, 0.2)

actor_set_linear_velocity

Description

Sets the linear velocity of an actor.

Syntax

gh_physx4.actor_set_linear_velocity( actor_id, vx, vy, vz )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
vx, vy, vz [REAL]: 3D velocity vector

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_linear_velocity(actor_id, 10, 10, 10)

actor_set_material

Description

Sets a material to an actor.

Syntax

gh_physx4.actor_set_material( actor_id, mat_id )

Languages

Parameters

actor_id [ID]: actor identifier
mat_id [ID]: material identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_material(actor_id, mat_id)

actor_set_orientation

Description

Sets the orientation of an actor (a quaternion).

Syntax

gh_physx4.actor_set_orientation( actor_id, x, y, z, w )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
x, y, z, w [REAL]: orientation quaternion

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_orientation(actor_id, x, y, z, w)

actor_set_position

Description

Sets the global position of an actor.

Syntax

gh_physx4.actor_set_position( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
x, y, z [REAL]: position

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_position(actor_id, x, y, z)

actor_set_sleep_threshold

Description

Sets the sleep threshold.

Syntax

gh_physx4.actor_set_sleep_threshold( actor_id, thres )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
thres [REAL]: threshold

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_set_sleep_threshold(actor_id, 0.2)

actor_set_solver_iterations

Description

Sets the number of solver iterations for an actor.

Syntax

gh_physx4.actor_set_solver_iterations( actor_id, position_iterations, velocity_iterations )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
position_iterations [INTEGER]: number of position iterations
velocity_iterations [INTEGER]: number of velocity iterations

Return Values

This function has no return value(s).

Code sample


position_iterations = 4
velocity_iterations = 1

gh_physx4.actor_set_solver_iterations(actor_id, position_iterations, velocity_iterations)

actor_update_mass

Description

Update the mass of an actor from the density.

Syntax

gh_physx4.actor_update_mass( actor_id, density )

Languages

Parameters

actor_id [ID]: actor identifier
density [REAL]: density

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_update_mass(actor_id, density)

actor_wake_up

Description

Wakes up an actor.

Syntax

gh_physx4.actor_wake_up( actor_id, sleep_counter )

Languages

Parameters

actor_id [ID]: PhysX actor identifier
sleep_counter [REAL]: sleep counter

Return Values

This function has no return value(s).

Code sample


gh_physx4.actor_wake_up(actor_id, 1)

check_results

Description

Checks if results of a simulation step are available.

Syntax

ret = gh_physx4.check_results( scene_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier

Return Values

ret [BOOLEAN]: available: 1 (true) or 0 (false)

Code sample


if (can_run_sim) then
    gh_physx4.run_simulation_step(scene_id, time_step)
    can_run_sim = false
end

if (gh_physx4.check_results(scene_id) == 1) then
    gh_physx4.fetch_results(scene_id)
    can_run_sim = true
end

create_actor_box

Description

Creates a box actor.

Syntax

actor_id = gh_physx4.create_actor_box( scene_id, w, h, d, px, py, pz, density, mat_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
w, h, d [REAL]: width, height and depth
px, py, pz [REAL]: position
density [REAL]: density
mat_id [ID]: material identifier

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


actor_box = gh_physx4.create_actor_box(scene_id, 4, 4, 4, 0, 0, 0, density, mat_id)

create_actor_capsule

Description

Creates a capsule actor.

Syntax

actor_id = gh_physx4.create_actor_capsule( scene_id, radius, half_height, px, py, pz, density, mat_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
radius [REAL]: radius of the capsule (actually the cylinder)
half_height [REAL]: half height of the cylinder
px, py, pz [REAL]: position
density [REAL]: density
mat_id [ID]: material identifier

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


actor_capsule = gh_physx4.create_actor_capsule(scene_id, radius, half_height, 0, 0, 0, density, mat_id)

create_actor_mesh

Description

Creates an actor from a mesh.

Syntax

actor_id = gh_physx4.create_actor_mesh( scene_id, mesh_id, px, py, pz, density, mat_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
mesh_id [ID]: mesh identifier
px, py, pz [REAL]: position
density [REAL]: density
mat_id [ID]: material identifier

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


actor_mesh = gh_physx4.create_actor_mesh(scene_id, mesh_id, 0, 0, 0, density, mat_id)

create_actor_mesh_v2

Description

Creates an actor from a mesh. You can specify if the mesh is convex or not. Only vertices of a convex mesh are used by PhysX. To be GPU friendly, the number of vertices must not exceed 64.

Syntax

actor_id = gh_physx4.create_actor_mesh_v2( scene_id, mesh_id, px, py, pz, density, mat_id, convex )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
mesh_id [ID]: mesh identifier
px, py, pz [REAL]: position
density [REAL]: density
mat_id [ID]: material identifier
convex [BOOLEAN]: convex state: 1 (yes) or 0 (no)

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


convex = 1
actor_mesh = gh_physx4.create_actor_mesh_v2(scene_id, mesh_id, 0, 0, 0, density, mat_id, convex)

create_actor_plane

Description

Creates a plane actor.

Syntax

actor_id = gh_physx4.create_actor_plane( scene_id, nx, ny, nz, d, mat_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
nx, ny, nz, d [REAL]: plane equation
mat_id [ID]: material identifier

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


actor_plane = gh_physx4.create_actor_plane(scene_id, 0, 1, 0, 0, mat_id)

create_actor_sphere

Description

Creates a sphere actor.

Syntax

actor_id = gh_physx4.create_actor_sphere( scene_id, radius, px, py, pz, density, mat_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
radius [REAL]: radius
px, py, pz [REAL]: position
density [REAL]: density
mat_id [ID]: material identifier

Return Values

actor_id [ID]: PhysX actor identifier

Code sample


actor_sphere = gh_physx4.create_actor_sphere(scene_id, 10, 0, 0, 0, density, mat_id)

create_material

Description

Creates a PhysX material.

Syntax

mat_id = gh_physx4.create_material( static_friction, dynamic_friction, resilience )

Languages

Parameters

static_friction [REAL]: static friction
dynamic_friction [REAL]: dynamic friction
resilience [REAL]: resilience

Return Values

mat_id [ID]: PhysX material identifier

Code sample


mat_id = gh_physx4.create_material(0.5, 0.5, 0.5)

create_scene

Description

Creates a PhysX scene - DEPRECATED

Syntax

scene_id = gh_physx4.create_scene( gpu_physx, bounce_threshold_velocity )

Languages

Parameters

gpu_physx [BOOLEAN]: 1 (GPU) or 0 (CPU)
bounce_threshold_velocity [REAL]: bounce threshold velocity

Return Values

scene_id [ID]: PhysX scene identifier

Code sample


bounce_threshold_velocity = 0.2

scene_id = gh_physx4.create_scene(1, bounce_threshold_velocity)

create_scene_broadphase_abp

Description

Creates a CPU PhysX scene with ABP (revisited implementation of MBP, new in PhysX 4) broadphase algorithm.

Syntax

scene_id = gh_physx4.create_scene_broadphase_abp( bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization )

Languages

Parameters

bounce_threshold_velocity [REAL]: bounce threshold velocity
enable_ccd [BOOLEAN]: CCD: 1 (enabled) or 0 (disabled)
enable_contact_reporting [BOOLEAN]: contact reporting: 1 (enabled) or 0 (disabled)
enable_stabilization [BOOLEAN]: stabilization: 1 (enabled) or 0 (disabled)

Return Values

scene_id [ID]: PhysX scene identifier

Code sample


bounce_threshold_velocity = 0.2
enable_ccd = 1
enable_contact_reporting = 0
enable_stabilization = 1

scene_id = gh_physx4.create_scene_broadphase_abp(bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization)

create_scene_broadphase_gpu

Description

Creates a GPU PhysX scene.

Syntax

scene_id = gh_physx4.create_scene_broadphase_gpu( bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization )

Languages

Parameters

bounce_threshold_velocity [REAL]: bounce threshold velocity
enable_ccd [BOOLEAN]: CCD: 1 (enabled) or 0 (disabled)
enable_contact_reporting [BOOLEAN]: contact reporting: 1 (enabled) or 0 (disabled)
enable_stabilization [BOOLEAN]: stabilization: 1 (enabled) or 0 (disabled)

Return Values

scene_id [ID]: PhysX scene identifier

Code sample


bounce_threshold_velocity = 0.2
enable_ccd = 1
enable_contact_reporting = 0
enable_stabilization = 1

scene_id = gh_physx4.create_scene_broadphase_gpu(bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization)

create_scene_broadphase_mbp

Description

Creates a CPU PhysX scene with MBP (Multi-Box Pruning) broadphase algorithm.

Syntax

scene_id = gh_physx4.create_scene_broadphase_mbp( bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization, minX, minY, minZ, maxX, maxY, maxZ )

Languages

Parameters

bounce_threshold_velocity [REAL]: bounce threshold velocity
enable_ccd [BOOLEAN]: CCD: 1 (enabled) or 0 (disabled)
enable_contact_reporting [BOOLEAN]: contact reporting: 1 (enabled) or 0 (disabled)
enable_stabilization [BOOLEAN]: stabilization: 1 (enabled) or 0 (disabled)
minX, minY, minZ [REAL]: world minimal dimension
maxX, maxY, maxZ [REAL]: world maximal dimension

Return Values

scene_id [ID]: PhysX scene identifier

Code sample


bounce_threshold_velocity = 0.2
enable_ccd = 1
enable_contact_reporting = 0
enable_stabilization = 1

minX = -100
minY = 0
minZ = -100
maxX = 100,
maxY = 100
maxZ = 100

scene_id = gh_physx4.create_scene_broadphase_mbp(bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization, minX, minY, minZ, maxX, maxY, maxZ)

create_scene_broadphase_sap

Description

Creates a CPU PhysX scene with SAP (Multi-Box Pruning) broadphase algorithm.

Syntax

scene_id = gh_physx4.create_scene_broadphase_sap( bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization )

Languages

Parameters

bounce_threshold_velocity [REAL]: bounce threshold velocity
enable_ccd [BOOLEAN]: CCD: 1 (enabled) or 0 (disabled)
enable_contact_reporting [BOOLEAN]: contact reporting: 1 (enabled) or 0 (disabled)
enable_stabilization [BOOLEAN]: stabilization: 1 (enabled) or 0 (disabled)

Return Values

scene_id [ID]: PhysX scene identifier

Code sample


bounce_threshold_velocity = 0.2
enable_ccd = 1
enable_contact_reporting = 0
enable_stabilization = 1

scene_id = gh_physx4.create_scene_broadphase_sap(bounce_threshold_velocity, enable_ccd, enable_contact_reporting, enable_stabilization)

fetch_results

Description

Fetches the results of a simulation step.

Syntax

ret = gh_physx4.fetch_results( scene_id )

Languages

Parameters

scene_id [ID]: PhysX scene identifier

Return Values

ret [BOOLEAN]: return code: 1 (success) or 0 (error)

Code sample


ret = gh_physx4.run_simulation_step(scene_id, time_step)

ret = gh_physx4.fetch_results(scene_id)

gpu_get_clock_frequency_khz

Description

Gets the clock speed of the PhysX GPU.

Syntax

clock = gh_physx4.gpu_get_clock_frequency_khz()

Languages

Parameters

This function has no input parameter(s).

Return Values

clock [INTEGER]: clock speed in kHz

Code sample


clock = gh_physx4.gpu_get_clock_frequency_khz()

gpu_get_name

Description

Gets the name of the PhysX GPU.

Syntax

name = gh_physx4.gpu_get_name()

Languages

Parameters

This function has no input parameter(s).

Return Values

name [STRING]: name of the GPU

Code sample


gpu_name = gh_physx4.gpu_get_name()

gpu_get_num_multiprocessors

Description

Gets the number of SMs of the PhysX GPU.

Syntax

num_sm = gh_physx4.gpu_get_num_multiprocessors()

Languages

Parameters

This function has no input parameter(s).

Return Values

num_sm [INTEGER]: number of SMs

Code sample


gpu_sm = gh_physx4.gpu_get_num_multiprocessors()

gpu_get_total_memory_size_mb

Description

Gets the size of the PhysX GPU memory.

Syntax

size = gh_physx4.gpu_get_total_memory_size_mb()

Languages

Parameters

This function has no input parameter(s).

Return Values

size [INTEGER]: size of the memory in MB

Code sample


size = gh_physx4.gpu_get_total_memory_size_mb()

gpu_is_supported

Description

Checks for PhysX GPU support (Windows only).

Syntax

ret = gh_physx4.gpu_is_supported()

Languages

Parameters

This function has no input parameter(s).

Return Values

ret [BOOLEAN]: supported: 1 (true) or 0 (false)

Code sample


gpu_physx = gh_physx4.gpu_is_supported()

joint_create

Description

Creates a PhysX joint between two PhysX actors.

Syntax

joint_id = gh_physx4.joint_create( scene_id, joint_type, actor1_id, x1, y1, z1, pitch1, yaw1, roll1, actor2_id, x2, y2, z2, pitch2, yaw2, roll2 )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
joint_type [ENUM]: type of joint: SPHERICAL (0), REVOLUTE (1), FIXED (2), DISTANCE (3), PRISMATIC (4), D6 (5 not implemented)
actor1_id [ID]: PhysX first actor identifier
x1, y1, z1 [REAL]: position of the joint related to the first actor
pitch1, yaw1, roll1 [REAL]: orientation of the joint related to the first actor
actor2_id [ID]: PhysX second actor identifier
x2, y2, z2 [REAL]: position of the joint related to the second actor
pitch2, yaw2, roll2 [REAL]: orientation of the joint related to the second actor

Return Values

joint_id [ID]: PhysX joint identifier

Code sample


joint_id = gh_physx4.joint_create(scene_id, joint_type, actor1, x1, y1, z1, pitch1, yaw1, roll1, actor2, x2, y2, z2, pitch2, yaw2, roll2)

joint_distance_set_distances

Description

Sets distance joint distance range.

Syntax

gh_physx4.joint_distance_set_distances( joint_id, min_distance, max_distance )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
min_distance, max_distance [REAL]: min / max distance of the joint

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_distance_set_distances(joint_id, min_distance, max_distance)

joint_distance_set_spring

Description

Sets distance joint spring parameters.

Syntax

gh_physx4.joint_distance_set_spring( joint_id, spring_coef, damping_coef )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
spring_coef, damping_coef [REAL]: spring parameters

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_distance_set_spring(joint_id, spring_coef, damping_coef)

joint_kill

Description

Kills a PhysX joint.

Syntax

gh_physx4.joint_kill( joint_id )

Languages

Parameters

joint_id [ID]: PhysX joint identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_kill(joint_id)

joint_prismatic_set_limits

Description

Sets prismatic joint parameters.

Syntax

gh_physx4.joint_prismatic_set_limits( joint_id, lower_limit, upper_limit, limit_contact_distance )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
lower_limit, upper_limit [REAL]: the range of the limit. The upper limit must be no lower than the lower limit.
limit_contact_distance [REAL]: the distance inside the limit value at which the limit will be considered to be active by the solver

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_prismatic_set_limits(joint_id, lower_limit, upper_limit, limit_contact_distance)

joint_revolute_set_angular_limits

Description

Sets revolute joint angular limits.

Syntax

gh_physx4.joint_revolute_set_angular_limits( joint_id, lower_limit, upper_limit, limit_contact_distance, damping, stiffness, restitution, bounce_threshold )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
lower_limit, upper_limit [REAL]: the range of the limit. The upper limit must be no lower than the lower limit.
limit_contact_distance [REAL]: the distance inside the limit value at which the limit will be considered to be active by the solver
damping [REAL]: damping of the limit spring
stiffness [REAL]: if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit
restitution [REAL]: controls the amount of bounce when the joint hits a limit
bounce_threshold [REAL]: determines the minimum impact velocity which will cause the joint to bounce

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_revolute_set_angular_limits(joint_id, lower_limit, upper_limit, limit_contact_distance, damping, stiffness, restitution, bounce_threshold)

joint_revolute_set_rotational_limits

Description

Sets revolute joint parameters.

Syntax

gh_physx4.joint_revolute_set_rotational_limits( joint_id, lower_limit, upper_limit, limit_contact_distance )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
lower_limit, upper_limit [REAL]: the range of the limit. The upper limit must be no lower than the lower limit.
limit_contact_distance [REAL]: the distance inside the limit value at which the limit will be considered to be active by the solver

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_revolute_set_rotational_limits(joint_id, lower_limit, upper_limit, limit_contact_distance)

joint_set_break_force

Description

Set the breaking force of a PhysX joint.

Syntax

gh_physx4.joint_set_break_force( joint_id, force, torque )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
force, torque [REAL]: force and torque

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_set_break_force(joint_id, force, torque)

joint_set_motor_params

Description

Sets motor parameters of a revolute joint.

Syntax

gh_physx4.joint_set_motor_params( joint_id, velocity, max_force, drive_enabled, free_spin_enabled )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
velocity, max_force [REAL]: parameters
drive_enabled, free_spin_enabled [BOOLEAN]: drive and free spin parameters: 1 (enabled) or 0 (disabled)

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_set_motor_params(joint_id, velocity, max_force, drive_enabled, free_spin_enabled)

joint_spherical_set_limit_cone

Description

Sets parameters of a spherical joint.

Syntax

gh_physx4.joint_spherical_set_limit_cone( joint_id, y_limit_angle, z_limit_angle, limit_contact_distance )

Languages

Parameters

joint_id [ID]: PhysX joint identifier
y_limit_angle, z_limit_angle, limit_contact_distance [REAL]: parameters

Return Values

This function has no return value(s).

Code sample


gh_physx4.joint_spherical_set_limit_cone(joint_id, y_limit_angle, z_limit_angle, limit_contact_distance)

kill_material

Description

Destroys a material.

Syntax

gh_physx4.kill_material( mat_id )

Languages

Parameters

mat_id [ID]: material identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.kill_material(mat_id)

run_simulation

Description

Runs a complete simulation (step + fetch).

Syntax

ret = gh_physx4.run_simulation( scene_id, dt, time_step )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
dt [REAL]: detla time
time_step [REAL]: simulation time step

Return Values

ret [BOOLEAN]: simulation done: 1 (true) or 0 (false)

Code sample


ret = gh_physx4.run_simulation(scene_id, dt, time_step)

run_simulation_step

Description

Runs a simulation step.

Syntax

ret = gh_physx4.run_simulation_step( scene_id, time_step )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
time_step [REAL]: simulation time step

Return Values

ret [BOOLEAN]: simulation: 1 (started) or 0 (error)

Code sample


ret = gh_physx4.run_simulation_step(scene_id, time_step)

scene_sync_3d_objects

Description

Synchronizes physics and graphics objects. A physcis actor is associated to a 3D object using the actor_set_3d_object() function.

Syntax

gh_physx4.scene_sync_3d_objects( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.scene_sync_3d_objects(scene_id)

set_max_depenetration_velocity

Description

Sets the max depenetration velocity. This a global value applied to each new actor.

Syntax

gh_physx4.set_max_depenetration_velocity( velocity )

Languages

Parameters

velocity [REAL]: depenetration velocity

Return Values

This function has no return value(s).

Code sample


velocity = 3.0

gh_physx4.set_max_depenetration_velocity(velocity)
...
actor_box = gh_physx4.create_actor_box(scene, 4, 4, 4, 0, 0, 0, density, mat_id)

set_scene_gravity

Description

Sets the scene gravity vector.

Syntax

gh_physx4.set_scene_gravity( scene_id, x, y, z )

Languages

Parameters

scene_id [ID]: PhysX scene identifier
x, y, z [REAL]: gravity vector

Return Values

This function has no return value(s).

Code sample


gh_physx4.set_scene_gravity(scene_id, 0, -9.81, 0)

set_simulation_scales

Description

Sets the various scales to get realistic physics simulations (to avoid the famous Moon effect).

Syntax

gh_physx4.set_simulation_scales( size, mass, speed )

Languages

Parameters

size [REAL]: the approximate size of objects in the simulation (default: 1.0)
mass [REAL]: the approximate mass of a size * size * size block (default: 1000)
speed [REAL]: the approximate velocities of objects in simulation (default: 10)

Return Values

This function has no return value(s).

Code sample


gh_physx4.set_simulation_scales(1, 1000, 10)

set_solver_iteration_counts

Description

Sets the number of solver iterations. This a global value applied to each new actor.

Syntax

gh_physx4.set_solver_iteration_counts( position_iterations, velocity_iterations )

Languages

Parameters

position_iterations [INTEGER]: number of position iterations
velocity_iterations [INTEGER]: number of velocity iterations

Return Values

This function has no return value(s).

Code sample


position_iterations = 4
velocity_iterations = 1

gh_physx4.set_solver_iteration_counts(position_iterations, velocity_iterations)
...
actor_box = gh_physx4.create_actor_box(scene, 4, 4, 4, 0, 0, 0, density, mat_id)

start

Description

Starts the PhysX engine.

Syntax

ret = gh_physx4.start()

Languages

Parameters

This function has no input parameter(s).

Return Values

ret [BOOLEAN]: return code: 1 (success) or 0 (error)

Code sample


ret = gh_physx4.start()

stop

Description

Stops the PhysX engine.

Syntax

ret = gh_physx4.stop()

Languages

Parameters

This function has no input parameter(s).

Return Values

ret [BOOLEAN]: return code: 1 (success) or 0 (error)

Code sample


ret = gh_physx4.stop()

update_material

Description

Updates the properties of a material.

Syntax

gh_physx4.update_material( mat_id, static_friction, dynamic_friction, resilience )

Languages

Parameters

mat_id [ID]: material identifier
static_friction [REAL]: static friction
dynamic_friction [REAL]: dynamic friction
resilience [REAL]: resilience / restitution

Return Values

This function has no return value(s).

Code sample


static_friction = 0.5
dynamic_friction = 0.5
resilience = 0.9

gh_physx4.update_material(mat_id, static_friction, dynamic_friction, resilience)

scene_sync_3d_objects_v2

Description

Synchronizes physics and graphics objects. A physcis actor is associated to a 3D object using the actor_set_3d_object() function. Compared to scene_sync_3d_objects(), this function synchronizes only PhysX active actors (actors that have been updated by the PhysX engine).

Syntax

gh_physx4.scene_sync_3d_objects_v2( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

This function has no return value(s).

Code sample


gh_physx4.scene_sync_3d_objects_v2(scene_id)

scene_get_num_active_actors

Description

Get the number of active PhysX actors.

Syntax

n = gh_physx4.scene_get_num_active_actors( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

n [INTEGER]: number of active actors

Code sample


n = gh_physx4.scene_get_num_active_actors(scene_id)

create_scene_set_solver_type

Description

Set the solver that will be used to create a PhysX scene.Synchronizes physics and graphics objects. A physcis actor is associated to a 3D object using the actor_set_3d_object() function. Compared to scene_sync_3d_objects(), this function synchronizes only PhysX active actors (actors that have been updated by the PhysX engine). If used, create_scene_set_solver_type() must be called before any scene creation function.

Syntax

gh_physx4.create_scene_set_solver_type( solver_type )

Languages

Parameters

solver_type [ENUM]: solver type

Return Values

This function has no return value(s).

Code sample


gh_physx4.create_scene_set_solver_type(solver_type)

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