Nvidia PhysX 学习文档10： Rigid Body Dynamics

最新推荐文章于 2023-03-16 16:45:20 发布

First Snowflakes

最新推荐文章于 2023-03-16 16:45:20 发布

阅读量2.3k

点赞数

分类专栏： Nvidia PhysX

本文链接：https://blog.csdn.net/qq_35865125/article/details/103647308

版权

Nvidia PhysX 专栏收录该内容

13 篇文章 15 订阅

订阅专栏

为什么地球上有各种周期规律，谁能真正理解量子力学？

official site: https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/RigidBodyDynamics.html

红色代表需要弄懂的。
————————————————----

Rigid Body Dynamics

In this chapter we cover a number of topics that are also important to understand once you are comfortable with setting up a basic rigid body simulation world.

Velocity

A rigid body's motion is separated into linear and angular velocity components. During simulation, PhysX will modify the velocity of an object in accordance with gravity, other applied forces and torques and as a result of various constraints, such as collisions or joints.

刚体的运动分为线性运动和旋转运动。在仿真过程中，physx会根据刚体受到的重力，其他外力以及力矩，以及各种约束来更新刚体的速度。

A body's linear and angular velocities can be read using the following methods: 读取刚体的线性速度和旋转角速度：

PxVec3 PxRigidBody::getLinearVelocity();
PxVec3 PxRigidBody::getAngularVelocity();

A body's linear and angular velocities can be set using the following methods:设置刚体的速度

void PxRigidBody::setLinearVelocity(const PxVec3& linVel, bool autowake);
void PxRigidBody::setAngularVelocity(const PxVec3& angVel, bool autowake);

Mass Properties

A dynamic actor needs mass properties: the mass, moment of inertia, and the center of mass frame which specifies the position of the actor's center of mass and its principal inertia axes. The easiest way to calculate mass properties is to use the PxRigidBodyExt::updateMassAndInertia() helper function, which will set all three properties based on the actor's shapes and a uniform density value. Variants of this function allow combinations of per-shape densities and manual specification of some mass properties. See the reference for PxRigidBodyExt for more details.
dynamic 类型的actor需要mass属性：质量、转动惯量、以及一个质量坐标系的原点，该坐标系用于指定actor的质心位置以及其principle inertia axes. 最简单的计算mass属性的方法是调用PxRigidBodyExt::updateMassAndInertia() 函数，该函数会根据actor的shape和uniform density value去设置上面提的三个mass 属性，，该函数可以接受一些入参，用于设置per-shape density 以及一些质量属性值，具体请参考reference.

The Wobbly Snowmen in the North Pole Sample illustrate the use of different mass properties. The snowmen act like roly-poly toys, which are usually just an empty shell with the bottom filled with some heavy material. The low centers of mass cause them to move back to an upright position after they have been tilted. They come in different flavors, depending on how the mass properties are set:

North Pole例子中的wobbly(摇摆的) snowmen解释了各个mass property的使用方法。这个snowmen就像一个质量集中在底部的不倒翁玩具。由于质心很低，导致它们会恢复到直立状态。 They come in different flavors, depending on how the mass properties are set:

The first is basically massless. There is just a little sphere with a relatively high mass at the bottom of the Actor. This results in a quite rapid movement due to the small resulting moments of inertia. The snowman feels light.

第一种：质量很轻，一个小的球，球的质量集中到actor的底部。转动惯量会很小，导致rapid movement 。

The second uses the mass of the bottom snowball only, resulting in a bigger inertia. Later on, the center of mass is moved to the bottom of the actor. This approximation is by no means physically correct, but the resulting snowman feels a bit more filled.
第二种：仅仅使用the mass of the bottom snowball，这导致了更大的惯性。Later on, the center of mass is moved to the bottom of the actor. This approximation is by no means physically correct, but the resulting snowman feels a bit more filled.

The third and fourth snowman use shapes to calculate the mass. The difference is that one calculates the moments of inertia first (from the real center of mass) and then the center of mass is moved to the bottom. The other calculates the moments of inertia about the low center of mass that we pass to the calculation routine. Note how much slower the wobbling is for the second case although both have the same mass. This is because the head accounts for much more in the moment of inertia (the distance from the center of mass squared).
第三种和第四种使用shape去计算质量。与前面的区别在于：is that one calculates the moments of inertia first (from the real center of mass) and then the center of mass is moved to the bottom. The other calculates the moments of inertia about the low center of mass that we pass to the calculation routine. Note how much slower the wobbling is for the second case although both have the same mass. This is because the head accounts for much more in the moment of inertia (the distance from the center of mass squared).

The last snowman's mass properties are set up manually. The sample uses rough values for the moment of inertia to create a specific desired behavior. The diagonal tensor has a low value in X, and high values in Y and Z, producing a low resistance to rotation around the X-axis and high resistance around Y and Z. As a consequence, the snowman will wobble back and forth only around the X axis.

最后一种snowman的mass属性是手动设置的，该例子使用了粗略的转动惯量值来创建一些所需的动作。 diagonal tensosr的x值较小，y和z值较大，这导致了绕x轴的转动很容易，绕y z轴的转动困难。结果， snowman 会只绕着x轴摆动。

If you have a 3x3 inertia matrix (for example, you have real-life inertia tensors for your objects) use the PxDiagonalize() function to obtain principal axes and diagonal inertia tensors to initialize PxRigidDynamic actors.
如果你有一个3*3的惯量矩阵(例如，对于你的一个物体，你有它的真正的inertia tensor值)， use the PxDiagonalize() function to obtain principal axes and diagonal inertia tensors to initialize PxRigidDynamic actors.

When manually setting the mass/inertia tensor of bodies, PhysX requires positive values for the mass and each principal axis of inertia. However, it is legal to provide 0s in these values. When provided with a 0 mass or inertia value, PhysX interprets this to mean infinite mass or inertia around that principal axis. This can be used to create bodies that resist all linear motion or that resist all or some angular motion. Examples of the effects that could be achieved using this approach are:
当手动设置物体的 mass/inertia tensor时，Physx要求mass和principle axis of inertia是正数，然而，设置成0也是可以的。当把mass 或 inertia值设置为0时， Physx会认为这对应着无限大的质量或转动惯量，可以借此去创建一个body，该body resist所有的线性运动或者旋转运动。可以实现的效果：

Bodies that behave as if they were kinematic.
Bodies whose translation behaves kinematically but whose rotation is dynamic.
Bodies whose translation is dynamic but whose rotation is kinematic.
Bodies which can only rotate around a specific axis.

Some examples of what could be achieved are detailed below. First, let's assume that we are creating a common structure - a windmill. The code to construct the bodies that would be part of the windmill are provided below:
下面的例子展示了可以被实现的一些东东。首先，让我们假设我们正在创建一个常见的结构--风车。构造该body的代码：

PxRigidDynamic* dyn = physics.createRigidDynamic(PxTransform(PxVec3(0.f, 2.5f, 0.f)));
PxRigidActorExt::createExclusiveShape(*dyn, PxBoxGeometry(2.f, 0.2f, 0.1f), material);
PxRigidActorExt::createExclusiveShape(*dyn, PxBoxGeometry(0.2f, 2.f, 0.1f), material);
dyn->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
dyn->setAngularVelocity(PxVec3(0.f, 0.f, 5.f));
dyn->setAngularDamping(0.f);
PxRigidStatic* st = mPhysics.createRigidStatic(PxTransform(PxVec3(0.f, 1.5f, -1.f)));
PxRigidActorExt::createExclusiveShape(*st, PxBoxGeometry(0.5f, 1.5f, 0.8f), material);
scene.addActor(dyn);
scene.addActor(st);

The above code creates a static box frame for the windmill and a cross to represent the blades of the turbine. We turn off gravity and angular damping on the windmill blade and give it an initial angular velocity. As a result, this turbine blade will rotate at a constant angular velocity indefinitely. However, if another object collided with the turbine, our windmill would cease to function correctly because the turbine blade would be knocked out of place. There are several options to make the turbine blade stay in the correct position when other bodies interact with it. One such approach might be to make the turbine have infinite mass and inertia. In this case, any interactions with bodies would not affect the turbine at all:
上面的代码创建了一个static box,一个代表风车轮子的叉。该代码关闭了重力和风车轮的angular damping，这使得风车可以以恒定的角速度来不停息第转动。然而，如果其他的object与风车相撞，风车将会cease to function correctly，因为，风车轮子会被koncked out of space. 当被撞时，有几个办法可以使得风车轮子保持正确的位置，其中之一时让风车具有无限大的质量和惯量，以保证任何撞击都不会对其产生顶点影响：

dyn->setMass(0.f);
dyn->setMassSpaceInertiaTensor(PxVec3(0.f));

This example retains the previous behavior of the turbine spinning at a constant angular velocity indefinitely. However, now the body's velocities cannot be affected by any constraints because the body has infinite mass and inertia. If a body collided with the turbine blade, the collision would behave as if the turbine blade was a kinematic body.

该例子保持了上面的风车特性：以固定角速度无休止转动。这样的话，风车的转动不会被任何约束所限制。

Another alternative would be to make the turbine have infinite mass and limit its rotation to just around the body's local z-axis. This would provide the same effect as applying a revolute joint between the turbine and the static windmill frame:

另一个方法是：让风车有无限的质量，并，限制其仅仅绕制z轴旋转，这与“在叶片和static windmill之间加上一个旋转副”的作用是一样的：

dyn->setMass(0.f);
dyn->setMassSpaceInertiaTensor(PxVec3(0.f, 0.f, 10.f));

In both examples, the body's mass was set to 0, indicating that the body has infinite mass so its linear velocity cannot be changed by any constraints. However, in this example, the body's inertia is configured to permit the body's angular velocity to be affected by constraints around one principal axis or inertia. This provides a similar effect to introducing a revolute joint. The value of the inertia around the z-axis can be increased or decreased to make the turbines more/less resistive to motion.

在上面两种方式中，质量都设置成数字0，意味着body具备无限大的质量以使得其不会被改变。然而，在后一方式中，body的转动惯量被配置成（0，0，10），意味着其沿着z轴的角速度是可以被改变的，这与引入一个旋转副是同样的效果。

Applying Forces and Torques

The most physics-friendly way to interact with a body is to apply a force to it. In classical mechanics, most interactions between bodies are typically solved by using forces. Because of the law:
最physics-friendly的与body进行交互的方式是施加力。在经典力学中，大部分的body之间的交互是通过力。

f = m*a (force = mass * acceleration)

Forces directly control a body's acceleration, but its velocity and position only indirectly. For this reason control by force may be inconvenient if you need immediate response. The advantage of forces is that regardless of what forces you apply to the bodies in the scene, the simulation will be able to keep all the defined constraints (joints and contacts) satisfied. For example gravity works by applying a force to bodies.
力直接导致物体加速度的变化，间接导致位置的变化。因此，如果你需要immediate respose的话，通过力来控制可能不太方便。对物体施加力的优势是：无论你对scene中的物体施加上什么样的力， physics总有能力keep all the defined constraints(joints and contacts) satisfied.

Unfortunately applying large forces to articulated bodies at the resonant frequency of a system may lead to ever increasing velocities, and eventually to the failure of the solver to maintain the joint constraints. This is not unlike a real world system, where the joints would ultimately break.

不幸的是，对articulated(铰接)body 以系统的共振频率施加很大的力时，会导致速度的不断增加，最终导致solver不能maintain the joint constraints. 在真实的世界中的话，关节会折断。

The forces acting on a body are accumulated before each simulation frame, applied to the simulation, and then reset to zero in preparation for the next frame. The relevant methods of PxRigidBody and PxRigidBodyExt are listed below. Please refer to the API reference for more detail:

The forces acting on a body are accumulated before each simulation frame, applied to the simulation, and then reset to zero in preparation for the next frame. （意思是：在每个frame之前，力被累积？）, 对物体施加力的api:

void PxRigidBody::addForce(const PxVec3& force, PxForceMode::Enum mode, bool autowake);
void PxRigidBody::addTorque(const PxVec3& torque, PxForceMode::Enum mode, bool autowake);

void PxRigidBodyExt::addForceAtPos(PxRigidBody& body, const PxVec3& force,
    const PxVec3& pos, PxForceMode::Enum mode, bool wakeup);
void PxRigidBodyExt::addForceAtLocalPos(PxRigidBody& body, const PxVec3& force,
    const PxVec3& pos, PxForceMode::Enum mode, bool wakeup);
void PxRigidBodyExt::addLocalForceAtPos(PxRigidBody& body, const PxVec3& force,
    const PxVec3& pos, PxForceMode::Enum mode, bool wakeup);
void PxRigidBodyExt::addLocalForceAtLocalPos(PxRigidBody& body, const PxVec3& force,
    const PxVec3& pos, PxForceMode::Enum mode, bool wakeup);

The PxForceMode member defaults to PxForceMode::eFORCE to apply simple forces. There are other possibilities. For example PxForceMode::eIMPULSE will apply an impulsive force. PxForceMode::eVELOCITY_CHANGE will do the same, but also ignore the mass of the body, effectively leading to an instantaneous velocity change. See the API documentation of PxForceMode for the other possibilities.

入参中的PxForceMode 参数的设置为 PxForceMode::eFORCE时支持施加力，该参数也可以为PxForceMode::eIMPULSE以支持施加impluse force(冲量)，设置为PxForceMode::eVELOCITY_CHANGE时可以达到ignore物体质量的效果，实现瞬间无延迟地速度变化。其他值可参考API documentation of PxForceMode。

Note

The methods in PxRigidBodyExt support only the force modes eFORCE and eIMPULSE.

上面的属于PxRigidBodyExt 的函数只支持force modes eFORCE and eIMPULSE。

There are further extension functions that compute the linear and angular velocity changes that would arise in the next simulation frame if an impulsive force or impulsive torque were to be applied:
还有其他函数可以用来计算线速度或者角速度的变换 that would arise in the next simulation frame if an impulsive force or impulsive torque were to be applied：

void PxRigidBodyExt::computeVelocityDeltaFromImpulse(const PxRigidBody& body,
    const PxVec3& impulsiveForce, const PxVec3& impulsiveTorque, PxVec3& deltaLinearVelocity,
    PxVec3& deltaAngularVelocity);

A use case for this function might be to predict an updated velocity for an object so that asset loading may be initiated in advance of the simulation frame if the body is likely to exceed a threshold velocity at the end of the frame. The impulsive force and torque are simply the force and torque that are to be applied to the body multiplied by the timestep of the simulation frame. Neglecting the effect of constraint and contact forces, the change in linear and angular velocity that are expected to arise in the next simulation frame are returned in deltaLinearVelocity and deltaAngularVelocity. The predicted linear velocity can then be computed with body.getLinearVelocity() + deltaLinearVelocity, while the predicted angular velocity can be computed with body.getAngularVelocity() + deltaAngularVelocity. If required, it is possible to immediately update the velocity of the body using body.setLinearVelocity(body.getLinearVelocity() + deltaLinearVelocity) and body.setAngularVelocity(body.getAngularVelocity() + deltaAngularVelocity).
该函数的一个用例：预测物体的updated速度，从而可以实现：如果该物体可能exceed a threshold velocity at the end of the frame的话，在simulation frame之前就开始asset loading。入参中的inpulse force和impulse torque是 "力(that are to be applied to the body) * timeStep". 两个delta参数返回在Neglecting the effect of constraint and contact forces状况下，下一个frame中预期的线速度和角速度的变化。从而可以得到预测线速度： body.getLinearVelocity() + deltaLinearVelocity, 得到预测角速度： body.getAngularVelocity() + deltaAngularVelocity。如果需要的话，可以立即update body的速度：body.setLinearVelocity(body.getLinearVelocity() + deltaLinearVelocity) 以及 body.setAngularVelocity(body.getAngularVelocity() + deltaAngularVelocity).

Gravity

Gravity is such a common force in simulations that PhysX makes it particularly simple to apply. For a scene-wide gravity effect, or any other uniform force field, set the PxScene class' gravity vector using PxScene::setGravity().

对于 scene-wide gravity effect, or any other uniform force field，使用PxScene::setGravity()来设置力矢量，以使得场景中的所有的物体都会受到这个力矢量。

The parameter is the acceleration due to gravity. In meters and seconds, this works out to have a magnitude of about 9.8 on earth, and should point downwards. The force that will be applied at the center of mass of each body in the scene is this acceleration vector times the actor's mass.

函数的入参时加速度矢量，单位是m/s^2。在地球上的话，加速度值是9.8，方向竖直向下。

Certain special effects can require that some dynamic actors are not influenced by gravity. To specify this set the flag:

可以设置dynamic actors不受重力：

PxActor::setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);

Note

Be careful when changing gravity (or enabling/disabling it) during the simulation. For performance reasons the change will not wake up sleeping actors automatically. Thus it may be necessary to iterate through all actors and call PxRigidDynamic::wakeUp() manually.
在仿真运行的过程中间改变重力或者enable/disable重力的话，需要特别注意。性能的原因，这种变化出现时physx不会自动wake up sleeping actor。从而，需要用户遍历scene中所有的actors对其调用PxRigidDynamic::wakeUp() manually。

An alternative to PxActorFlag::eDISABLE_GRAVITY is to use a zero gravity vector for the whole scene, then apply your own gravity force to rigid bodies, each frame. This can be used to create radial gravity fields, as demonstrated in SampleCustomGravity.
另外一种技巧：设置场景的重力矢量为0，然后，如果某个actor需要重力的话就each frame单独施加给它，这种方法可以实现创建辐射状的重力场，见例子：SampleCustomGravity。

Friction and Restitution

All physical objects have at least one material, which defines the friction and restitution properties used to resolve a collision with the objects.

每个物体至少有一个material属性，以定义摩擦和碰撞属性。

To create a material, call PxPhysics::createMaterial():

PxMaterial* mMaterial;

mMaterial = mPhysics->createMaterial(0.5f, 0.5f, 0.1f); // static friction, dynamic friction,restitution
                                                        
if(!mMaterial)
    fatalError("createMaterial failed!");

Materials are owned by the PxPhysics object, and can be shared among objects in multiple scenes. The material properties of two objects involved in a collision may be combined in various ways. See the reference documentation for PxMaterial for more details.

创建出来的matetial变量会给object使用，即owned by objectg, 一个material 可以被不同场景的不同的object所共同使用。当两个obj碰撞时，它们的material属性可以被以各种不同的方式使用，具体见PxMaterial文档。

PhysX objects whose collision geometry is a triangle mesh or a heightfield (see Shapes) can have a material per triangle.

Collison geometry为triangle或者heightfield的object，其每个三角片可以有不同的material, shape文档讲过。

Friction uses the coulomb friction model, which is based around the concepts of 2 coefficients: the static friction coefficient and the dynamic friction coefficient (sometimes called kinetic friction). Friction resists relative lateral motion of two solid surfaces in contact. These two coefficients define a relationship between the normal force exerted by each surface on the other and the amount of friction force that is applied to resist lateral motion. Static friction defines the amount of friction that is applied between surfaces that are not moving lateral to each-other. Dynamic friction defines the amount of friction applied between surfaces that are moving relative to each-other.
摩擦使用的是库伦摩擦模型，该模型基于两个系数： the static friction coefficient 以及 the dynamic friction coefficient (sometimes called kinetic friction)。 -- 基本的物理知识。

When using the default patch friction model, PhysX's friction model is, by default, stronger than analytical models. To achieve results much closer to analytical models, PhysX 4.0 introduced the PxMaterialFlag::eIMPROVED_PATCH_FRICTION flag. By default, this flag is not enabled to maintain legacy behavior.
当使用default patch摩擦模型时，PhysX的摩擦模型is stronger than analytical models. To achieve results much closer to analytical models, PhysX 4.0 introduced the PxMaterialFlag::eIMPROVED_PATCH_FRICTION flag. By default, this flag is not enabled to maintain legacy behavior.

The coefficient of restitution of two colliding objects is a fractional value representing the ratio of speeds after and before an impact, taken along the line of impact. A coefficient of restitution of 1 is said to collide elastically, while a coefficient of restitution < 1 is said to be inelastic.
两个碰撞体的coefficient of restitution是一个小数，该数等于 "碰撞后的速度/碰撞前的速度"，速度是指的沿着碰撞线方向的速度。

Sleeping

When an actor does not move for a period of time, it is assumed that it will not move in the future either until some external force acts on it that throws it out of equilibrium. Until then it is no longer simulated in order to save resources. This state is called sleeping. You can query an actor's sleep state with the following method:
如果一个actor在一段时间间隔内没有动，Physx为认为其在以后也不会运动（即让其进入sleeping状态），除非有其他的力让他动。一下函数可以用来检查一个actor是否处于sleeping状态：

bool PxRigidDynamic::isSleeping() const;

It is however often more convenient to listen for events that the SDK sends when actors fall asleep or wake up. To receive the following events, PxActorFlag::eSEND_SLEEP_NOTIFIES must be set for the actor:
出来调用isSleeping之外，另一种知道actor是否sleep的方法是监听skd发出的事件，即当actor进入或者跳出sleeping状态的时候会自动触发回调函数吧，使能监听的方式是设置actor的PxActorFlag::eSEND_SLEEP_NOTIFIES：

void PxSimulationEventCallback::onWake(PxActor** actors, PxU32 count) = 0;
void PxSimulationEventCallback::onSleep(PxActor** actors, PxU32 count) = 0;

--- 这两个函数是许需要用户自己实现内部功能吧。

See the section Callback Sequence and the subsection Sleep state change events for more information.
关于事件的回调在这里(https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/Simulation.html?highlight=callback%20sequence#callback-sequence).

An actor goes to sleep when its kinetic energy is below a given threshold for a certain time. Basically, every dynamic rigid actor has a wake counter which gets decremented by the simulation time step when the kinetic energy of the actor is below the specified threshold. However, if the energy is above the threshold after a simulation step, the counter gets reset to a minimum default value and the whole process starts anew. Once the wake counter reaches zero, it does not get decremented any further and the actor is ready to go to sleep. Please note that a zero wake counter does not mean that the actor has to be asleep, it only indicates that it is ready to go to sleep. There are other factors that might keep an actor awake for a while longer.
当一个actor的动能低于给定的阈值且持续一段给定的时间后，该actor就进入sleep状态。每个dynamic actor都有一个自己的counter，当其动能小于阈值的时候，该counter在每个step都会减少timestep值。当actor的动能值大于阈值时，该值会被reset成一个默认值。该counter的值等于0时，actor就sleep啦。注意：当actor的counter的值为0时，该actor不一定进入sleep，为0仅仅意味着该actor is ready to sleep，还有其他的一些因素会keep actor awake for a while longer。（什么因素？）

The energy threshold as well as the minimum amount of time an actor will stay awake can be manipulated using the following methods:
可以用以下函数来设置动能阈值、 the minimum amount of time an actor will stay awake：

void PxRigidDynamic::setSleepThreshold(PxReal threshold);
PxReal PxRigidDynamic::getSleepThreshold() const;

void PxRigidDynamic::setWakeCounter(PxReal wakeCounterValue);
PxReal PxRigidDynamic::getWakeCounter() const;

Note

For kinematic actors, special sleep rules apply. A kinematic actor is asleep unless a target pose has been set (in which case it will stay awake until the end of the next simulation step where no target pose has been set anymore). As a consequence, it is not allowed to use setWakeCounter() for kinematic actors. The wake counter of a kinematic actor is solely defined based on whether a target pose has been set.

对于kenematic actor，有特殊的sleep rules。一个kinematic actor会一直sleep除非给他设置了target pose. 因此，不能对kinematic actor使用setWakeCounter函数。 kinematic actor的wake counter会在这个时候设置：当target pose被设置的时候。

If a dynamic rigid actor is sleeping, the following state is guaranteed: 当dynamic rigid actor在sleep状态的时候：

The wake counter is zero.
The linear and angular velocity is zero.
There is no force update pending.

When an actor gets inserted into a scene, it will be considered asleep if all the points above hold, else it will be treated as awake.

当插入一个actor到scene的时候，如果其符合上面三条，physx会认为其时sleep。

In general, a dynamic rigid actor is guaranteed to be awake if at least one of the following holds:

当一个dynamic rigid actor处于以下任何一个状态时，physx保证其时wake的状态：

The wake counter is positive.
The linear or angular velocity is non-zero.
A non-zero force or torque has been applied.

As a consequence, the following calls will wake the actor up automatically:
可以用以下函数可以wake一个actor:

PxRigidDynamic::setWakeCounter(), if the wake counter value is larger than zero.
PxRigidBody::setLinearVelocity(), ::setAngularVelocity(), if the velocity is non-zero.
PxRigidBody::addForce(), ::addTorque(), if the torque is non-zero.

In addition, the following calls and events wake an actor up:

另外，以下函数和事件可以wake 一个actor:

PxRigidDynamic::setKinematicTarget() in the case of a kinematic actor (because this also sets the wake counter to a positive value).
PxRigidActor::setGlobalPose(), if the autowake parameter is set to true (default).
Simulation gets disabled for a PxRigidActor by raising PxActorFlag::eDISABLE_SIMULATION.
PxScene::resetFiltering().
PxShape::setSimulationFilterData(), if the subsequent re-filtering causes the type of the shape pair to transition between suppressed, trigger and contact.
Touch with an actor that is awake.
A touching rigid actor gets removed from the scene (this is the default behavior but it can be specified by the user, see note further below).
Contact with a static rigid actor is lost.-- 突然失去了靠山，肯定会动
Contact with a dynamic rigid actor is lost and this actor is awake in the next simulation step.

Note

When removing a rigid actor from the scene or a shape from an actor, it is possible to specify whether to wake up the objects that were touching the removed object in the previous simulation step. See the API comments in PxScene::removeActor() and PxRigidActor::detachShape() for details.

从scene中remove一个rigid actor 或者 remove一个shape from an actor时，用户可以指定是否去wake up 那些在上一个TimeStep与被移除东东相touch的objects. 具体可以看api documents的PxScene::removeActor() and PxRigidActor::detachShape().

(https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxapi/files/classPxScene.html#a6ba76326fc73e3c5b0361568caec9267:)

To explicitly wake up a sleeping object, or force an object to sleep, use:
强制sleep或者wakeup：

void PxRigidDynamic::wakeUp();
void PxRigidDynamic::putToSleep();

Note

It is not allowed to use these methods for kinematic actors. The sleep state of a kinematic actor is solely defined based on whether a target pose has been set.

不能对kinematic actors使用上面两个函数。因为 The sleep state of a kinematic actor is solely defined based on whether a target pose has been set.。

The API reference documents exactly which methods cause an actor to be woken up.

Sleep state change events

As mentioned above, PhysX provides an event system that reports changes to the sleep state of dynamic rigid bodies during PxScene::fetchResults():

如上所述，Physx提供了一个event system,其可以报告PxScene::fetchResults()期间dynamic rigid body的sleep状态的变化。

void PxSimulationEventCallback::onWake(PxActor** actors, PxU32 count) = 0;
void PxSimulationEventCallback::onSleep(PxActor** actors, PxU32 count) = 0;

It is important to understand the correct usage of these events, and their limitations:

这种event的正确使用方法和局限性：

A body added since the previous fetchResults() or flushSimulation() will always generate an event, even if no sleep state transition occured.
If there have been multiple changes in a body's sleep state since the previous fetchResults() or flushSimulation(), PhysX will report only the most recent.

Sometimes it is desirable to detect transitions between awake and asleep, e.g. when keeping track of the number of awake bodies. Suppose a sleeping body B is woken by the application, the counter is incremented, and during the next simulation step B stays awake. Even though B's sleep state did not change during simulation, it has changed since the previous fetchResults(), and so an onWake() event will be generated for it. If the counter is incremented again in response to this event, its value will be incorrect.
有时需要检测awake和asleep状态之间的切换，例如， keep track the 处于awake状态的物体数目. 假设处于sleep状态的物体B被application awake, 计数器加一(在哪里加一) 且在下一个timeStep 物体B保持awake状态，即使，物体B的状态没有变化，相对于上一次fetchResults()来说其状态已经变了，so, 会产生一个onWake信号，如果在事件函数中再一次将计数器加一那就错了。

解决方法：To use sleep state events to detect transitions, a record of the sleep state for objects of interest has to be kept, for example in a hash. When processing an event, this record can be used to check whether there has been a transition.

Kinematic Actors

Sometimes controlling an actor using forces or constraints is not sufficiently robust, precise or flexible. For example moving platforms or character controllers often need to manipulate an actor's position or have it exactly follow a specific path. Such a control scheme is provided by kinematic actors.
有时，使用力或者约束来控制一个actor是不够robust、准确、灵活的。例如，moving platforms or character controllers 经常需要控制actor的位置或者使其follow具体的轨迹。 kinematic则可以提供这种机制。

A kinematic actor is controlled using the PxRigidDynamic::setKinematicTarget() function. Each simulation step PhysX moves the actor to its target position, regardless of external forces, gravity, collision, etc. Thus one must continually call setKinematicTarget(), every time step, for each kinematic actor, to make them move along their desired paths. The movement of a kinematic actor affects dynamic actors with which it collides or to which it is constrained with a joint. The actor will appear to have infinite mass and will push regular dynamic actors out of the way.

用户使用PxRigidDynamic::setKinematicTarget()函数来控制kinematic actor. 每一个step, 使用该函数可以将actor移动到目标位置，不受外力，重力，碰撞等影响。因此，用户必须不停地调用该函数。 kinematic actor的移动会对与其发生碰撞的dynamic actor或者与其有约束关系的actor产生影响,kinematic actor的质量就像是无限大，其会push regular dynamic actors out of the way.

To create a kinematic actor, simply create a regular dynamic actor then set its kinematic flag:

创建一个kinematic actor的方法是，创建一个regular dynamic actor,然后设置成kinematic flag:

PxRigidBody::setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);

Use the same function to transform a kinematic actor back to a regular dynamic actor. While you do need to provide a mass for the kinematic actor as for all dynamic actors, this mass will not actually be used for anything while the actor is in kinematic mode.
该函数也可以将一个kinematic转回成reguLar dynamic actor. 用户也可以给kinematic actor设置一个质量，只是该质量不会被用到。

Caveats:（警告）

It is important to understand the difference between PxRigidDynamic::setKinematicTarget() and PxRigidActor::setGlobalPose() here. While setGlobalPose() would also move the actor to the desired position, it would not make that actor properly interact with other objects. In particular, with setGlobalPose() the kinematic actor would not push away other dynamic actors in its path, instead it would go right through them. The setGlobalPose() function can still be used though, if one simply wants to teleport a kinematic actor to a new position.
A kinematic actor can push away dynamic objects, but nothing pushes it back. As a result, a kinematic can easily squish(挤坏) a dynamic actor against a static actor, or against another kinematic actor. As a result, the squished dynamic object can deeply penetrate the geometry it has been pushed into.
There is no interaction or collision between kinematic actors and static actors. However, it is possible to request contact information for these cases with the PxSceneDesc::kineKineFilteringMode and PxSceneDesc::staticKineFilteringMode.

Kinematic Surface Velocities

In addition to setting kinematic targets or the global pose of a kinematic actor, it is also possible to set a kinematic surface velocity using the method PxRigidDynamic::setKinematicSurfaceVelocity(). This method is only legal to call if the rigid body in question is set to be kinematic. This method sets a persistent velocity on the kinematic actor but flags the actor to bypass integration. This means that objects interacting with the kinematic actor through collisions will behave as if the kinematic actor is moving, although the actor's pose does not actually change. This mechanism can be used to create conveyor belts and rotating surfaces.

---- 给表面设置一个速度，但是位置不动。

Active Actors

------ physx提供了一个函数可以将位置变动的actor从scene中一下子查询出来，返回的形式是一个数组。

The active actors API provides an efficient way to reflect actor transform changes in a PhysX scene to an associated external object such as a render mesh.

When a scene's fetchResults() method is called an array of active PxActor is generated. Because only actors that have moved will be included in the list this approach is potentially much more efficient than, for example, analyzing each actor in the scene individually.

The example below shows how to use active actors to update a render object:

// update scene
scene.simulate(dt);
scene.fetchResults();

// retrieve array of actors that moved
PxU32 nbActiveActors;
PxActor** activeActors = scene.getActiveActors(nbActiveActors);

// update each render object with the new transform
for (PxU32 i=0; i < nbActiveActors; ++i)
{
    MyRenderObject* renderObject = static_cast<MyRenderObject*>(activeActors[i]->userData);
    renderObject->setTransform(activeActors[i]->getGlobalPose());
}

Note

PxSceneFlag::eENABLE_ACTIVE_ACTORS must be set on the scene for the active actors array to be generated.

Note

Since the target transform for kinematic rigid bodies is set by the user, kinematics can be excluded from the list by setting the flag PxSceneFlag::eEXCLUDE_KINEMATICS_FROM_ACTIVE_ACTORS.

Dominance

---Dominance :支配, 控制

Dominance is a mechanism to enable dynamic bodies to dominate each-other. Dominance effectively imbues(使充满，灌溉) the dominant body in a pair with infinite mass(使一对pair中的两个物体中的起支配作用的那个的质量变为无穷). This is a form of local mass modification within the constraint solver and, as such, can override the mass of one of the bodies in a pair. Similar effects can be achieved through local mass modification in contact modification but dominance has the advantage of being handled automatically within the SDK so does not incur the additional memory and performance overhead of contact modification.

Each actor must be assigned a dominance group ID. This is a 5-bit value in the range [0, 31]. As such, you are restricted to at-most 32 dominance groups. By default, all bodies are placed in dominance group 0. An actor can be assigned to a dominance group using the following method on PxActor:

virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0;

Dominance is defined by 2 real numbers in the following struct:

struct PxDominanceGroupPair
{
    PxDominanceGroupPair(PxReal a, PxReal b)
        : dominance0(a), dominance1(b) {}
    PxReal dominance0;
    PxReal dominance1;
};

And dominance between two dominance groups can be configured using the following method on PxScene:

virtual void setDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2,
    const PxDominanceGroupPair& dominance) = 0; //用PxDominanceGroupPair入参设置两个group谁支配谁。

The user can define 3 different states for a given PxDominanceGroupPair: * 1 : 1. This indicates that both bodies have equal dominance. This is the default behavior. * 1 : 0. This indicates that body B dominates body A. * 0 : 1. This indicates that body A dominates body B.---看来0代表着无限大的质量。

Any values other than 0 and 1 are not valid in a PxDominanceGroupPair. Assigning 0 to both sides of the PxDominanceGroupPair is also invalid. These values can be considered to be scales applied to the bodies' respective inverse mass and inverse inertia. A dominance value of 0 would therefore equate to an infinite mass body.

The following example sets two actors, actorA and actorB, into different dominance groups and configures the dominance group to make actorA dominate actorB: --- 先把两个actor放到group里面，然后配置两个group谁支配谁。

PxRigidDynamic* actorA = mPhysics->createRigidDynamic(PxTransform(PxIdentity));
PxRigidDynamic* actorB = mPhysics->createRigidDynamic(PxTransform(PxIdentity));

actorA->setDominanceGroup(1);
actorB->setDominanceGroup(2);

mScene->setDominanceGroupPair(1, 2, PxDominanceGroupPair(0.f, 1.f));

Dominance values will not affect joints. Local mass modification on joints must be performed using the following methods on PxJoint:

virtual void setInvMassScale0(PxReal invMassScale) = 0;
virtual void setInvMassScale1(PxReal invMassScale) = 0;
virtual void setInvInertiaScale0(PxReal invInertiaScale) = 0;
virtual void setInvInertiaScale1(PxReal invInertiaScale) = 0;

As previously mentioned, dominance does not permit values other than 0 or 1 and any dominance values are applied uniformly to both the inverse mass and inverse inertia. 但是， Joints and contacts through contact modification permit defining separate inverse mass and inverse inertia scales, which accept any values within the range [0, PX_MAX_REAL] so can be used to achieve a wider range of effects than dominance can. --- 对比了两种修改质量大小的方法。

Dominance can produce some very peculiar results if misused. For example, given bodies A, B and C configured in the following way:

Body A dominates body B
Body B dominance body C
Body C dominates body A

In this situation, body A cannot push body C directly. However, it can push body C if it pushes body B into body C. -- 使用的时候注意逻辑。！！

Solver Iterations

---constraint solver应该是一个求解器吧，迭代求解的次数越多，结果越准。

When the motion of a rigid body is constrained either by contacts or joints, the constraint solver comes into play. The solver satisfies the constraints on the bodies by iterating over all the constraints restricting the motion of the body a certain number of times. The more iterations, the more accurate the results become. The solver iteration count defaults to 4 position iterations and 1 velocity iteration(因为位置求解是解非线性方程，速度求解是在位置求解的基础上的线性方程哦，我之前都做过). Those counts may be set individually for each body using the following function:

void PxRigidDynamic::setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters);

Typically it is only necessary to significantly increase these values for objects with lots of joints and a small tolerance for joint error. If you find a need to use a setting higher than 30, you may wish to reconsider the configuration of your simulation.

The solver groups contacts into friction patches; friction patches are groups of contacts which share the same materials and have similar contact normals. However, the solver permits a maximum of 32 friction patches per contact manager (pair of shapes). If more than 32 friction patches are produced, which may be due to very complex collision geometry or very large contact offsets, the solver will ignore the remaining friction patches. A warning will be issues in checked/debug builds when this happens.

Immediate Mode

该部分或许需要先学习solver等，才能理解。

In addition to simulation using a PxScene, PhysX offers a low-level simulation API called "immediate mode". This provides an API to access the low-level contact generation and constraint solver. This approach currently only supports CPU rigid bodies and reduced coordinate articulations. It does not support maximal coordinate articulations.

---immediate mode 就是一些low level simulation API，使用这些api可以代替PxScene来进行仿真。牛逼。

The immediate mode API is defined in PxImmediateMode.h and there are two Snippets demonstrating its usage: "SnippetImmediateMode" and "SnippetImmediateArticulation". The first one does not use articulations and shows how to use the API for rigid bodies and joints that still belong to a PxScene. This can be used e.g. to simulate a specific actor of a scene with a higher frequency than the rest of the scene. The second snippet is a "pure" immediate mode example where all involved actors, joints and articulations exist without the need for PxScene, PxActor or PxArticulation objects.

---提供了两个如何使用immediate model api的例子，第一个例子，仍然使用了PxScene, 第二个例子完全摆脱了PxSecne,是一个纯正的immediate mode 例子。

The immediate mode API provides a function to perform contact generation:

PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(

const PxGeometry* const * geom0, const PxGeometry* const * geom1,

const PxTransform* pose0, const PxTransform* pose1,

PxCache* contactCache,

const PxU32 nbPairs,

PxContactRecorder& contactRecorder,

const PxReal contactDistance,

const PxReal meshContactMargin,

const PxReal toleranceLength, PxCacheAllocator& allocator);

This function takes a set of pairs of PxGeometry objects located at specific poses and performs collision detection between the pairs. If the pair of geometries collide, contacts are generated, which are reported to contactRecorder. In addition, information may be cached in contactCache to accelerate future queries between these pairs of geometries. Any memory required for this cached information will be allocated using allocator.

In addition, the immediate mode provides APIs for the constraint solver. These include functions to create bodies used by the solver:

PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData,
 PxSolverBodyData* outSolverBodyData, const PxU32 nbBodies,
 const PxVec3& gravity, const PxReal dt);

PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBody(const PxTransform& globalPose, 
                                                               PxSolverBodyData& solverBodyData);

In addition to constructing the bodies, PxConstructSolverBodies also integrates the provided gravitational acceleration into the bodies velocities.

The following function is optional and is used to batch constraints:

PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints( const PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints,
 PxSolverBody* solverBodies, const PxU32 nbBodies,
 PxConstraintBatchHeader* outBatchHeaders, PxSolverConstraintDesc* outOrderedConstraintDescs,
 Dy::ArticulationV** articulations=NULL, const PxU32 nbArticulations=0);

Batching constraints reorders the provided constraints and produces batchHeaders, which can be used by the solver to accelerate constraint solving by grouping together independent constraints and solving them in parallel using multiple lanes in SIMD registers. This process is entirely optional and can bypassed if not desired. Note that this will change the order in which constraints are processed, which can change the outcome of the solver. -----SIMD全称Single Instruction Multiple Data，单指令多数据流，能够复制多个操作数，并把它们打包在大型寄存器的一组指令集。

The following methods is provided to create contact constraints:

PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeaders, 
const PxU32 nbHeaders, 
PxSolverContactDesc* contactDescs,
PxConstraintAllocator& allocator, 
const PxReal invDt, 
const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, 
const PxReal correlationDistance);

This method can be provided with the contacts produced by PxGenerateContacts or by contacts produced by application-specific contact generation approaches.

The following methods are provided to create joint constraints:

PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeaders,
 const PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator,
 const PxReal dt, const PxReal invDt);

PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeaders, 
const PxU32 nbBatchHeaders,
PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs,
PxConstraintAllocator& allocator, const PxReal dt, const PxReal invDt);

PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShaders(PxConstraintBatchHeader* batchHeaders, 
const PxU32 nbBatchHeaders, 
immConstraint* constraints, 
PxSolverConstraintPrepDesc* jointDescs,
                                                                                                                                                                PxConstraintAllocator& allocator, const PxReal dt, const PxReal invDt);

The methods provide a mechanism for the application to define joint rows or for the application to make use of PhysX PxConstraint objects, which create the constraint rows.

The following method solves the constraints:

PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(const PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc* solverConstraintDescs,
        const PxSolverBody* solverBodies, PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations,
        const float dt=0.0f, const float invDt=0.0f, const PxU32 nbSolverArticulations=0, Dy::ArticulationV** solverArticulations=NULL);

This method performs all required position and velocity iterations and updates the objects' delta velocities and motion velocities, which are stored in PxSolverBody and linear/angularMotionVelocity respectively.

The following method is provided to integrate the bodies' final poses and update the bodies' velocities to reflect the motion produced by the constraint solver:

PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, const PxU32 nbBodiesToIntegrate,
const PxReal dt);

The above methods are the ones needed for simulating regular rigid bodies and joints in immediate mode. See SnippetImmediateMode for an example.

Additional functions are provided to simulate reduced coordinate articulations. First, register articulation-related solver functions with PxRegisterImmediateArticulations:

PX_C_EXPORT PX_PHYSX_CORE_API void PxRegisterImmediateArticulations();

This is the counterpart of PxRegisterArticulationsReducedCoordinate for immediate mode. You only need to call it once at the start of your program. Then create a low-level reduced coordinate articulations with the following function:

PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV*        PxCreateFeatherstoneArticulation(const PxFeatherstoneArticulationData& data);

Once the articulation is created, add articulation links to it with the following function:

PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationLinkHandle        PxAddArticulationLink(Dy::ArticulationV* articulation, const PxFeatherstoneArticulationLinkData& data, bool isLastLink=false);

The number of links per articulation is currently limited to 64, just as with PxScene-level articulations. After all links have been added, the articulation is ready to be simulated.

Note that for articulations the current API is not as "immediate" as for rigid bodies, since the returned object is still a thin "retained mode" wrapper around low-level structures. This is done to make articulations easier to use: the low-level structures currently contain data for both reduced coordinate and maximal coordinate articulations, and intimate knowledge of PhysX's internals is needed to distinguish between the two. The thin wrapper makes things more accessible. On the other hand, the data is not directly owned by the user, and the following function must be called to eventually release it at the end of your program:

PX_C_EXPORT PX_PHYSX_CORE_API void      PxReleaseArticulation(Dy::ArticulationV* articulation);

Meanwhile there are a number of data accessor functions available:

PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV*        PxGetLinkArticulation(const Dy::ArticulationLinkHandle link);
PX_C_EXPORT PX_PHYSX_CORE_API PxU32     PxGetLinkIndex(const Dy::ArticulationLinkHandle link);
PX_C_EXPORT PX_PHYSX_CORE_API bool      PxGetLinkData(const Dy::ArticulationLinkHandle link, PxLinkData& data);
PX_C_EXPORT PX_PHYSX_CORE_API PxU32     PxGetAllLinkData(const Dy::ArticulationV* articulation, PxLinkData* data);
PX_C_EXPORT PX_PHYSX_CORE_API bool      PxGetMutableLinkData(const Dy::ArticulationLinkHandle link, PxMutableLinkData& data);
PX_C_EXPORT PX_PHYSX_CORE_API bool      PxSetMutableLinkData(Dy::ArticulationLinkHandle link, const PxMutableLinkData& data);
PX_C_EXPORT PX_PHYSX_CORE_API bool      PxGetJointData(const Dy::ArticulationLinkHandle link, PxFeatherstoneArticulationJointData& data);
PX_C_EXPORT PX_PHYSX_CORE_API bool      PxSetJointData(Dy::ArticulationLinkHandle link, const PxFeatherstoneArticulationJointData& data);

Some of them are here to update the data at runtime, say for articulation drives. Some of them are needed to setup the articulation data for aforementioned immediate mode functions like PxSolveConstraints, which have been updated in PhysX 4.1 to take additional articulation-related parameters (but which should otherwise be used the same way as for immediate mode rigid bodies).

The only new articulation-specific functions are otherwise:

PX_C_EXPORT PX_PHYSX_CORE_API void      PxComputeUnconstrainedVelocities(Dy::ArticulationV* articulation, const PxVec3& gravity, const PxReal dt);
PX_C_EXPORT PX_PHYSX_CORE_API void      PxUpdateArticulationBodies(Dy::ArticulationV* articulation, const PxReal dt);

Use the first one at the start of the simulation loop to compute unconstrained velocities for each immediate mode articulations. Use the second one at the end of the simulation loop to update the articulation bodies/links after PxIntegrateSolverBodies has finished. Please refer to SnippetImmediateArticulation for examples.

Enhanced Determinism

PhysX provides limited deterministic simulation. Specifically, the results of the simulation will be identical between runs if simulating the exact same scene (same actors inserted in the same order) using the same time-stepping scheme and same PhysX release running on the same platform. The simulation behavior is not influenced by the number of worker threads that are used.

----Physx的仿真在相同条件下运行多次的话，每次的运行结果时是一致的。

However, the results of the simulation can change if actors are inserted in a different order. In addition, the overall behavior of the simulation can change if additional actors are added or if some actors are removed from the scene. This means that the simulation of a particular collection of actors can change depending on whether other actors are present in the scene or not, irrespective of whether these actors actually interact with the collection of actors. This behavioral property is usually tolerable but there are circumstances in which it is not acceptable.

----有一些因素会影响仿真结果，例如，actors被插入到场景中的顺序等等/

To overcome this issue, PhysX provides a flag: PxSceneFlag::eENABLE_ENHANCED_DETERMINISM, which provides additional levels of determinism. Specifically, provided the application inserts the actors in a deterministic order, with this flag raised, the simulation of an island will be identical regardless of any other islands in the scene. However, this mode sacrifices some performance to ensure this additional determinism.

----使用PxSceneFlag::eENABLE_ENHANCED_DETERMINISM可以克服上面提到的仿真结果不同的缺点，但是以降低一些性能为代价。

Axis locking

It is possible to restrict motion along or around specific world-space axes in PhysX using PxRigidDynamicLockFlag. For example, the below code snippet demonstrates how to restrict a PxRigidDynamic to two dimensional simulation. In this case, we permit the PxRigidDynamic to rotate only around the Z-axis and to translate only along the X- and Y- axes:
----提供了限制一个物体某个方向的自由度的功能哦。

PxRigidDynamic* dyn = physics.createRigidDynamic(PxTransform(PxVec3(0.f, 2.5f, 0.f)));

...

//Lock the motion
dyn->setRigidDynamicLockFlags(
PxRigidDynamicLockFlag::eLOCK_LINEAR_Z | 
PxRigidDynamicLockFlag::eLOCK_ANGULAR_X | 
PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y);

It is legal to restrict movement or rotation around any combination of the 6 degrees of freedom.

Temporal Gauss-Seidel

---简单介绍了两种solver

PhysX provides a default Projected Gauss-Seidel-style (PGS) solver and an optional Temporal Gauss-Seidel (TGS) solver.

Temporal gauss-seidel offers several advantages over the PGS-style solver: - Dramatically improved convergence - Improved handling of high-mass ratios - Minimizes energy introduced when correcting penetrations (depending on solver convergence) - Improved joint drive accuracy

TGS is generally a little slower than PGS. This is partially due to the increased complexity of the constraint solver and also partially due to TGS solving friction constraints every iteration, whereas PGS solves friction constraints only in the final 3 position iterations by default.

Enabling the TGS solver requires setting PxSceneDesc::solverType to PxSolverType::eTGS. This is an immutable scene property that must be set before the scene is constructed.

The TGS solver is available when using both CPU and GPU simulation.