Represents a simulation scene. More...

#include <mochi_scene.h>

Public Member Functions
virtual void	CancelCallback (CallbackHandle handle)=0
	Cancel a previously registered callback.
virtual StateHandle	CaptureState (Error &error)=0
	Capture the simulation state that changes from step to step for later restoration.
virtual void	CaptureStateToBytes (DynamicArray< uint8_t > &outData, Error &error)=0
	Capture simulation state to a binary byte buffer.
virtual void	CaptureStateToFile (std::string_view filePath, Error &error)=0
	Captures a snapshot of the state of a Scene, similar to Scene::CaptureState, then writes the data to a JSON file for manual inspection.
virtual Constraint *	CreateArticulated3dRotationRangeConstraint (Articulated3dRotationRangeConstraintParams const &params, Error &error)=0
	Create a range constraint on the DoFs of a 3D rotation joint of an articulated actor.
virtual Constraint *	CreateArticulated3dRotationTargetConstraint (Articulated3dRotationTargetConstraintParams const &params, Error &error)=0
	Create a target constraint on an articulated 3D rotation.
virtual Actor *	CreateArticulatedActor (ArticulatedActorParams const &params, Error &error)=0
	Create an articulated actor.
virtual Constraint *	CreateArticulatedSingleDofRangeConstraint (ArticulatedSingleDofRangeConstraintParams const &params, Error &error)=0
	Create a range constraint on a single articulated DoF.
virtual Constraint *	CreateArticulatedSingleDofTargetConstraint (ArticulatedSingleDofTargetConstraintParams const &params, Error &error)=0
	Create a target constraint on a single articulated DoF.
virtual Constraint *	CreateDeformableNodePositionConstraint (DeformableNodePositionConstraintParams const &params, Error &error)=0
	Create a position constraint on a deformable actor node.
virtual Constraint *	CreateDeformableNodeToDeformableNodeConstraint (DeformableNodeToDeformableNodeConstraintParams const &params, Error &error)=0
	Create a constraint connecting two deformable actor nodes.
virtual Constraint *	CreateDeformableNodeToRigidConstraint (DeformableNodeToRigidConstraintParams const &params, Error &error)=0
	Create a constraint connecting a deformable node to a rigid actor.
virtual Constraint *	CreateJointRotationRangeConstraint (JointRotationRangeConstraintParams const &params, Error &error)=0
	Create a range constraint on joint rotation.
virtual Constraint *	CreateJointRotationTrackingConstraint (JointRotationTrackingConstraintParams const &params, Error &error)=0
	Create a tracking constraint on joint rotation.
virtual Actor *	CreateRigidActor (RigidActorParams const &params, Error &error)=0
	Create a rigid body actor.
virtual Constraint *	CreateRigidPivotPositionConstraint (RigidPivotPositionConstraintParams const &params, Error &error)=0
	Create a position constraint on a rigid actor's pivot point.
virtual Constraint *	CreateRigidPivotRotationConstraint (RigidPivotRotationConstraintParams const &params, Error &error)=0
	Create a rotation constraint on a rigid actor's pivot frame.
virtual Constraint *	CreateRigidPivotToRigidTargetConstraint (RigidPivotToRigidTargetConstraintParams const &params, Error &error)=0
	Create a position constraint between a rigid actor's pivot point and the world position of that pivot under a target center-of-mass transform.
virtual Constraint *	CreateRigidPrismaticJointConstraint (RigidPrismaticJointConstraintParams const &params, Error &error)=0
	Create a prismatic joint constraint between two rigid actors.
virtual Constraint *	CreateRigidSphericalJointConstraint (RigidSphericalJointConstraintParams const &params, Error &error)=0
	Create a spherical joint constraint between two rigid actors.
virtual Constraint *	CreateRodElementRotationToRigidConstraint (RodElementRotationToRigidConstraintParams const &params, Error &error)=0
	Create a rotation constraint between a rigid actor and a rod element.
virtual Actor *	CreateSoftActor (SoftActorParams const &params, Error &error)=0
	Create a soft deformable actor.
virtual Actor *	CreateSoftSkinnedActor (SoftSkinnedActorParams const &params, Error &error)=0
	Create a soft-skinned actor with an articulated skeleton.
void	DestroyActor (Actor *actor)
	Destroy an actor and remove it from the scene.
virtual void	DestroyActor (ActorHandle actor)=0
	Destroy an actor and remove it from the scene.
virtual void	DestroyConstraint (Constraint *constraint)=0
	Destroy a constraint and remove it from the scene.
virtual void	DestroyConstraint (ConstraintHandle constraint)=0
	Destroy a constraint and remove it from the scene.
virtual void	EnableActorContactAsymmetric (ActorHandle colliding, ActorHandle collider, bool enable, IncludeNestedActors includeNestedActors, Error &error)=0
	Enable or disable collision detection between two actors.
virtual void	EnableActorContactSymmetric (ActorHandle actorA, ActorHandle actorB, bool enable, IncludeNestedActors includeNestedActors, Error &error)=0
	Equivalent to calling EnableActorContactAsymmetric with `actorA` and `actorB` in both orders using the same `includeNestedActors`.
virtual void	EnableLayerContactAsymmetric (std::string_view layerA, std::string_view layerB, bool enable, Error &error)=0
	Enable or disable collision detection for an ordered pair of contact layer names.
virtual void	EnableLayerContactSymmetric (std::string_view layerA, std::string_view layerB, bool enable, Error &error)=0
	Equivalent to calling EnableLayerContactAsymmetric with `layerA` and `layerB` in both orders.
virtual void	EnumerateContactLayerNames (std::function< void(std::string_view name)> const &callback) const =0
	Enumerate all unique contact layer names in the scene.
virtual void	ForEachActor (std::function< void(Actor *)> const &callback)=0
	Iterate over all the actors in the scene using a callback.
virtual void	ForEachActor (std::function< void(Actor const *)> const &callback) const =0
	Iterate over all the actors in the scene using a callback (const version).
virtual void	ForEachConstraint (std::function< void(Constraint *)> const &callback)=0
	Iterate over all the constraints in the scene using a callback.
virtual void	ForEachConstraint (std::function< void(Constraint const *)> const &callback) const =0
	Iterate over all the constraints in the scene using a callback (const version).
virtual Actor const *	GetActor (ActorHandle actor) const =0
	Get a const pointer to the Actor associated with an ActorHandle.
virtual Actor *	GetActor (ActorHandle actor)=0
	Get the Actor pointer associated with an ActorHandle.
virtual void	GetActors (Span< Actor * > outActors, Error &error)=0
	Get Actor pointers for all the actors in the scene.
virtual void	GetActors (Span< Actor const * > outActors, Error &error) const =0
	Get const Actor pointers for all the actors in the scene.
virtual Constraint const *	GetConstraint (ConstraintHandle constraint) const =0
	Get the const Constraint pointer associated with a ConstraintHandle.
virtual Constraint *	GetConstraint (ConstraintHandle constraint)=0
	Get the Constraint pointer associated with a ConstraintHandle.
virtual Context const *	GetContext () const =0
	Get read-only access to the Context that owns this scene.
virtual Context *	GetContext ()=0
	Get the Context that owns this scene.
virtual DebugDraw const &	GetDebugDraw () const =0
	Get a const reference to the debug draw interface for this scene.
virtual DebugDraw &	GetDebugDraw ()=0
	Get the debug draw interface for this scene.
virtual bool	GetForceSingleIsland () const =0
	Get whether all actors are forced to be in a single simulation island.
virtual Real3	GetGravity () const =0
	Get the gravity vector in world frame.
virtual SceneHandle	GetHandle () const =0
	Get the scene handle.
virtual double	GetLastTimeStep () const =0
	Returns the time step size [s] from the most recent positive call to Step.
virtual char const *	GetName () const =0
	Get the name of the scene.
virtual int	GetNumActors () const =0
	Get the number of actors in the scene, including nested link actors and nested soft actors.
virtual int	GetNumConstraints () const =0
	Get the number of constraints in the scene.
virtual int	GetNumContactLayers () const =0
	Get the number of unique contact layer names in the scene.
virtual PerformanceStats	GetPerformanceStats () const =0
	Get timing and profiling metrics from the last simulation step.
virtual SolverParams	GetSolverParams () const =0
	Get the solver parameters.
virtual SolverStats	GetSolverStats () const =0
	Get solver convergence metrics from the last simulation step.
virtual double	GetTotalSimulationTime () const =0
	Returns the total simulation time [s] in the scene.
virtual bool	IsEqualState (StateHandle stateA, StateHandle stateB) const =0
	Return true if both StateHandles are valid and refer to identical state information (full precision).
virtual bool	IsLayerContactEnabled (std::string_view layerA, std::string_view layerB) const =0
	Check if collision detection is enabled for an ordered pair of contact layer names.
virtual bool	IsRecording () const =0
	Check if the scene is currently recording.
virtual CallbackHandle	RegisterPostStepCallback (std::string_view debugName, std::function< void(StepInfo const &)> callback, int priority=kDefaultCallbackPriority)=0
	Register a callback to execute after each simulation step.
virtual CallbackHandle	RegisterPreStepCallback (std::string_view debugName, std::function< void(StepInfo const &)> callback, int priority=kDefaultCallbackPriority)=0
	Register a callback to execute before each simulation step.
virtual void	ReleaseAllStates ()=0
	Release memory for all captured state and invalidate all prior StateHandle objects.
virtual void	ReleaseState (StateHandle handle)=0
	Release a StateHandle when you are done with it.
virtual void	RestoreState (StateHandle handle, bool releaseImmediately, Error &error)=0
	Restore captured simulation state.
virtual void	RestoreStateFromBytes (Span< uint8_t const > data, Error &error)=0
	Restore simulation state from a binary byte buffer produced by CaptureStateToBytes.
virtual void	SetForceSingleIsland (bool forceSingleIsland)=0
	Enables/disables forcing all actors in the scene to be in a single simulation island.
virtual void	SetGravity (Real3 const &gravity)=0
	Set the gravity vector in world frame.
virtual void	SetSolverParams (SolverParams const &params, Error &error)=0
	Set the solver parameters.
virtual void	StartRecording (std::string_view filePath, RecordingParams const &params, Error &error)=0
	Create or replace the specified file and start recording the scene to an HDF5 file.
virtual void	Step (double timeStepSec)=0
	Advance the simulation of the Scene one step.
virtual void	StopRecording ()=0
	Stop recording the scene and close the recording file.
virtual void	UpdateDebugger ()=0
	This gives the debugger a chance to process messages that require reading or writing scene state.

Static Public Attributes
static constexpr int	kDefaultCallbackPriority = 100
	Default priority for callback ordering.

Protected Member Functions
virtual	~Scene ()=default
	Don't delete the Scene pointer. Call Context::DestroyScene.

Detailed Description

Represents a simulation scene.

Note: Each scene manages the simulation of a series of actors.; Actors from different scenes do not interact with each other.

Warning: Concurrent access to the scene and its actors and constraints is illegal.

Definition at line 45 of file mochi_scene.h.

Constructor & Destructor Documentation

◆ ~Scene()

virtual superdex::Scene::~Scene ( )

protectedvirtualdefault

Don't delete the Scene pointer. Call Context::DestroyScene.

Member Function Documentation

◆ CancelCallback()

virtual void superdex::Scene::CancelCallback ( CallbackHandle handle )

pure virtual

Cancel a previously registered callback.

Parameters

[in] handle CallbackHandle from RegisterPreStepCallback or RegisterPostStepCallback. Must be owned by this scene.

Note: Invalid and already-cancelled handles are ignored.

See also: RegisterPreStepCallback, RegisterPostStepCallback

◆ CaptureState()

virtual StateHandle superdex::Scene::CaptureState ( Error & error )

nodiscardpure virtual

Capture the simulation state that changes from step to step for later restoration.

Captured state includes actor solution, transforms, and velocities; current and previous constraint/controller targets; and external forces.

Parameters

[in,out] error Error status. Check Error::IsOK for success.

Returns: StateHandle to be used with RestoreState. Call ReleaseState or ReleaseAllStates when you're done with it.

Warning: Not supported for scenes with ROM actors.

See also: RestoreState, ReleaseState, ReleaseAllStates, CaptureStateToFile, CaptureStateToBytes

◆ CaptureStateToBytes()

virtual void superdex::Scene::CaptureStateToBytes	(	DynamicArray< uint8_t > &	outData,
		Error &	error )

pure virtual

Capture simulation state to a binary byte buffer.

Captures the same simulation state as CaptureState, but writes the binary representation to caller-owned memory instead of storing it internally. This is useful for transferring state between processes or caching state outside the scene.

Parameters

[in,out]	outData	Output byte buffer. Capture data is appended to the buffer.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: On failure, the output buffer may contain a partial capture. Discard the buffer or truncate it to its original size before reuse.

Warning: Has the same capture restrictions as CaptureState, including no support for scenes with ROM actors.; The binary representation uses an internal capture format. It is intended only for compatible scenes with the same actors and constraints created in the same order and the same component layouts, using the same SuperDex Physics build. It is not a stable long-term serialization or asset interchange format.

See also: RestoreStateFromBytes, CaptureState, CaptureStateToFile

◆ CaptureStateToFile()

virtual void superdex::Scene::CaptureStateToFile	(	std::string_view	filePath,
		Error &	error )

pure virtual

Captures a snapshot of the state of a Scene, similar to Scene::CaptureState, then writes the data to a JSON file for manual inspection.

Parameters

[in]	filePath	Path of the output file to write/overwrite (case sensitive on some filesystems).
[in,out]	error	Error status. Check Error::IsOK for success.

Warning: Not supported for scenes with ROM actors.

See also: Scene::CaptureState

◆ CreateArticulated3dRotationRangeConstraint()

virtual Constraint * superdex::Scene::CreateArticulated3dRotationRangeConstraint	(	Articulated3dRotationRangeConstraintParams const &	params,
		Error &	error )

pure virtual

Create a range constraint on the DoFs of a 3D rotation joint of an articulated actor.

Parameters

[in]	params	Parameters defining the DoF range constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

Note: Use this API for runtime creation/deletion of joint limits. For static joint limits, use the Scene::CreateArticulatedActor API instead.

See also: ConstraintType::Articulated3dRotationRange, Articulated3dRotationRangeConstraintParams, DestroyConstraint

◆ CreateArticulated3dRotationTargetConstraint()

virtual Constraint * superdex::Scene::CreateArticulated3dRotationTargetConstraint	(	Articulated3dRotationTargetConstraintParams const &	params,
		Error &	error )

pure virtual

Create a target constraint on an articulated 3D rotation.

Parameters

[in]	params	Parameters defining the 3D rotation target constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::Articulated3dRotationTarget, Articulated3dRotationTargetConstraintParams, DestroyConstraint

◆ CreateArticulatedActor()

virtual Actor * superdex::Scene::CreateArticulatedActor	(	ArticulatedActorParams const &	params,
		Error &	error )

pure virtual

Create an articulated actor.

Parameters

[in]	params	Parameters defining the articulated actor.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Actor, or nullptr on error.

Note: To access nested link actors, use Actor::GetNestedLinkActors.

Warning: A zero-DOF skeleton (every joint is ArticulatedJointType::Hard) is a static welded structure and cannot carry a skin (ArticulatedActorParams::skin).

See also: ArticulatedActorParams, DestroyActor

◆ CreateArticulatedSingleDofRangeConstraint()

virtual Constraint * superdex::Scene::CreateArticulatedSingleDofRangeConstraint	(	ArticulatedSingleDofRangeConstraintParams const &	params,
		Error &	error )

pure virtual

Create a range constraint on a single articulated DoF.

Parameters

[in]	params	Parameters defining the DoF range constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

Note: Use this API for runtime creation/deletion of joint limits. For static joint limits, use the Scene::CreateArticulatedActor API instead.

See also: ConstraintType::ArticulatedSingleDofRange, ArticulatedSingleDofRangeConstraintParams, DestroyConstraint

◆ CreateArticulatedSingleDofTargetConstraint()

virtual Constraint * superdex::Scene::CreateArticulatedSingleDofTargetConstraint	(	ArticulatedSingleDofTargetConstraintParams const &	params,
		Error &	error )

pure virtual

Create a target constraint on a single articulated DoF.

Parameters

[in]	params	Parameters defining the single DoF target constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::ArticulatedSingleDofTarget, ArticulatedSingleDofTargetConstraintParams, DestroyConstraint

◆ CreateDeformableNodePositionConstraint()

virtual Constraint * superdex::Scene::CreateDeformableNodePositionConstraint	(	DeformableNodePositionConstraintParams const &	params,
		Error &	error )

pure virtual

Create a position constraint on a deformable actor node.

Parameters

[in]	params	Parameters defining the deformable node position constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::DeformableNodePosition, DeformableNodePositionConstraintParams, DestroyConstraint

◆ CreateDeformableNodeToDeformableNodeConstraint()

virtual Constraint * superdex::Scene::CreateDeformableNodeToDeformableNodeConstraint	(	DeformableNodeToDeformableNodeConstraintParams const &	params,
		Error &	error )

pure virtual

Create a constraint connecting two deformable actor nodes.

Parameters

[in]	params	Parameters defining the deformable-node-to-deformable-node constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::DeformableNodeToDeformableNode, DeformableNodeToDeformableNodeConstraintParams, DestroyConstraint

◆ CreateDeformableNodeToRigidConstraint()

virtual Constraint * superdex::Scene::CreateDeformableNodeToRigidConstraint	(	DeformableNodeToRigidConstraintParams const &	params,
		Error &	error )

pure virtual

Create a constraint connecting a deformable node to a rigid actor.

Parameters

[in]	params	Parameters defining the deformable-node-to-rigid constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::DeformableNodeToRigid, DeformableNodeToRigidConstraintParams, DestroyConstraint

◆ CreateJointRotationRangeConstraint()

virtual Constraint * superdex::Scene::CreateJointRotationRangeConstraint	(	JointRotationRangeConstraintParams const &	params,
		Error &	error )

pure virtual

Create a range constraint on joint rotation.

Parameters

[in]	params	Parameters defining the joint rotation range constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::JointRotationRange, JointRotationRangeConstraintParams, DestroyConstraint

◆ CreateJointRotationTrackingConstraint()

virtual Constraint * superdex::Scene::CreateJointRotationTrackingConstraint	(	JointRotationTrackingConstraintParams const &	params,
		Error &	error )

pure virtual

Create a tracking constraint on joint rotation.

Parameters

[in]	params	Parameters defining the joint rotation tracking constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::JointRotationTracking, JointRotationTrackingConstraintParams, DestroyConstraint

◆ CreateRigidActor()

virtual Actor * superdex::Scene::CreateRigidActor	(	RigidActorParams const &	params,
		Error &	error )

pure virtual

Create a rigid body actor.

Parameters

[in]	params	Parameters defining the rigid actor.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Actor, or nullptr on error.

See also: RigidActorParams, DestroyActor

◆ CreateRigidPivotPositionConstraint()

virtual Constraint * superdex::Scene::CreateRigidPivotPositionConstraint	(	RigidPivotPositionConstraintParams const &	params,
		Error &	error )

pure virtual

Create a position constraint on a rigid actor's pivot point.

Parameters

[in]	params	Parameters defining the rigid pivot position constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RigidPivotPosition, RigidPivotPositionConstraintParams, DestroyConstraint

◆ CreateRigidPivotRotationConstraint()

virtual Constraint * superdex::Scene::CreateRigidPivotRotationConstraint	(	RigidPivotRotationConstraintParams const &	params,
		Error &	error )

pure virtual

Create a rotation constraint on a rigid actor's pivot frame.

Parameters

[in]	params	Parameters defining the rigid pivot rotation constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RigidPivotRotation, RigidPivotRotationConstraintParams, DestroyConstraint

◆ CreateRigidPivotToRigidTargetConstraint()

virtual Constraint * superdex::Scene::CreateRigidPivotToRigidTargetConstraint	(	RigidPivotToRigidTargetConstraintParams const &	params,
		Error &	error )

pure virtual

Create a position constraint between a rigid actor's pivot point and the world position of that pivot under a target center-of-mass transform.

Parameters

[in]	params	Parameters defining the rigid pivot to rigid target constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RigidPivotToRigidTarget, RigidPivotToRigidTargetConstraintParams, DestroyConstraint

◆ CreateRigidPrismaticJointConstraint()

virtual Constraint * superdex::Scene::CreateRigidPrismaticJointConstraint	(	RigidPrismaticJointConstraintParams const &	params,
		Error &	error )

pure virtual

Create a prismatic joint constraint between two rigid actors.

Parameters

[in]	params	Parameters defining the prismatic joint constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RigidPrismaticJoint, RigidPrismaticJointConstraintParams, DestroyConstraint

◆ CreateRigidSphericalJointConstraint()

virtual Constraint * superdex::Scene::CreateRigidSphericalJointConstraint	(	RigidSphericalJointConstraintParams const &	params,
		Error &	error )

pure virtual

Create a spherical joint constraint between two rigid actors.

Parameters

[in]	params	Parameters defining the spherical joint constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RigidSphericalJoint, RigidSphericalJointConstraintParams, DestroyConstraint

◆ CreateRodElementRotationToRigidConstraint()

virtual Constraint * superdex::Scene::CreateRodElementRotationToRigidConstraint	(	RodElementRotationToRigidConstraintParams const &	params,
		Error &	error )

pure virtual

Create a rotation constraint between a rigid actor and a rod element.

Parameters

[in]	params	Parameters defining the rod element rotation constraint.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Constraint, or nullptr on error.

See also: ConstraintType::RodElementRotationToRigid, RodElementRotationToRigidConstraintParams, DestroyConstraint

◆ CreateSoftActor()

virtual Actor * superdex::Scene::CreateSoftActor	(	SoftActorParams const &	params,
		Error &	error )

pure virtual

Create a soft deformable actor.

Parameters

[in]	params	Parameters defining the soft actor.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Actor, or nullptr on error.

See also: SoftActorParams, DestroyActor

◆ CreateSoftSkinnedActor()

virtual Actor * superdex::Scene::CreateSoftSkinnedActor	(	SoftSkinnedActorParams const &	params,
		Error &	error )

pure virtual

Create a soft-skinned actor with an articulated skeleton.

Parameters

[in]	params	Parameters defining the soft-skinned actor.
[in,out]	error	Error status. Check Error::IsOK for success.

Returns: Pointer to the created Actor, or nullptr on error.

Note: To access underlying soft actors, use Actor::GetNestedSoftActors.; To access underlying rigid link actors, use Actor::GetNestedLinkActors.

Warning: The skeleton must have at least one non-Hard joint.

See also: SoftSkinnedActorParams, DestroyActor

◆ DestroyActor() [1/2]

void superdex::Scene::DestroyActor ( Actor * actor )

inline

Destroy an actor and remove it from the scene.

Parameters

[in] actor Pointer to the actor to destroy.

Note: Nested actors cannot be destroyed individually. When you destroy the parent actor (e.g. an articulation), all the nested actors will be destroyed automatically.; Constraints attached to the actor are automatically destroyed.; If actor is null, this function has no effect.; After the actor is destroyed, do not use the pointer or its handle.

Warning: The pointer must be null or point to a live actor owned by this scene. Passing a pointer to an actor that has been destroyed is undefined behavior.

See also: GetActor, Actor::GetHandle

Definition at line 23 of file mochi_scene_inl.h.

◆ DestroyActor() [2/2]

virtual void superdex::Scene::DestroyActor ( ActorHandle actor )

pure virtual

Destroy an actor and remove it from the scene.

Parameters

[in] actor Handle of the actor to destroy. If valid, it must be owned by this scene.

Note: Nested actors cannot be destroyed individually. When you destroy the parent actor (e.g. an articulation), all the nested actors will be destroyed automatically.; Constraints attached to the actor are automatically destroyed.; An invalid handle or one that does not currently identify an actor in the scene has no effect.; After the actor is destroyed, do not use its handle.

See also: GetActor, Actor::GetHandle

◆ DestroyConstraint() [1/2]

virtual void superdex::Scene::DestroyConstraint ( Constraint * constraint )

pure virtual

Destroy a constraint and remove it from the scene.

Parameters

[in] constraint Pointer to the constraint to destroy.

Note: If constraint is null, this function has no effect.; After the constraint is destroyed, do not use the pointer or its handle.

Warning: The pointer must be null or point to a live constraint owned by this scene. Passing a pointer to a constraint that has been destroyed is undefined behavior.

See also: GetConstraint, Constraint::GetHandle

◆ DestroyConstraint() [2/2]

virtual void superdex::Scene::DestroyConstraint ( ConstraintHandle constraint )

pure virtual

Destroy a constraint and remove it from the scene.

Parameters

[in] constraint Handle of the constraint to destroy. If valid, it must be owned by this scene.

Note: An invalid handle or one that does not currently identify a constraint in the scene has no effect.; After the constraint is destroyed, do not use its handle.

See also: GetConstraint, Constraint::GetHandle

◆ EnableActorContactAsymmetric()

virtual void superdex::Scene::EnableActorContactAsymmetric	(	ActorHandle	colliding,
		ActorHandle	collider,
		bool	enable,
		IncludeNestedActors	includeNestedActors,
		Error &	error )

pure virtual

Enable or disable collision detection between two actors.

Order matters: controls only the specified direction (colliding actor checking against collider actor).

Parameters

[in]	colliding	Handle of the colliding actor.
[in]	collider	Handle of the collider actor.
[in]	enable	True to enable contact, false to disable it.
[in]	includeNestedActors	Whether nested actors should be affected by this contact setting. With IncludeNestedActors::No, only the exact handles are affected. With IncludeNestedActors::Yes, parent actors with nested actors resolve to the parent plus nested actors. The setting is applied to every ordered pair in the cross-product of the two resolved handle sets; no pairs outside that cross-product are affected. If the resolved sets overlap, pairs in the overlap, including self-pairs, are affected.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: Contact is enabled by default. You only need to call this method if you wish to disable (or re-enable) contact for a specific actor pair.; Both layer-to-layer and actor-to-actor contact must be enabled for contact to occur.; Contact between adjacent links is automatically disabled when an articulated or soft-skinned actor is created. A later actor-contact setting can override that automatic disable for any pair included in the resolved actor sets. In particular, enabling contact between a parent actor and itself with IncludeNestedActors::Yes enables contact between that parent's nested actors, including adjacent links, unless a later actor-contact setting disables those pairs again.; Call twice with swapped arguments or use EnableActorContactSymmetric to affect collision checks in both directions.

See also: EnableActorContactSymmetric, EnableLayerContactAsymmetric

◆ EnableActorContactSymmetric()

virtual void superdex::Scene::EnableActorContactSymmetric	(	ActorHandle	actorA,
		ActorHandle	actorB,
		bool	enable,
		IncludeNestedActors	includeNestedActors,
		Error &	error )

pure virtual

Equivalent to calling EnableActorContactAsymmetric with actorA and actorB in both orders using the same includeNestedActors.

Parameters

[in]	actorA	Handle of the first actor.
[in]	actorB	Handle of the second actor.
[in]	enable	True to enable contact, false to disable it.
[in]	includeNestedActors	Whether nested actors should be affected by this contact setting. See EnableActorContactAsymmetric for details.
[in,out]	error	Error status. Check Error::IsOK for success.

See also: EnableActorContactAsymmetric, EnableLayerContactSymmetric

◆ EnableLayerContactAsymmetric()

virtual void superdex::Scene::EnableLayerContactAsymmetric	(	std::string_view	layerA,
		std::string_view	layerB,
		bool	enable,
		Error &	error )

pure virtual

Enable or disable collision detection for an ordered pair of contact layer names.

Order matters: controls only the specified direction (actors in layerA checking against actors in layerB).

Parameters

[in]	layerA	Name of the layer of the "colliding" actor (the one checking for contact). Must be non-empty.
[in]	layerB	Name of the layer of the "collider" actor (the one with a ColliderType being tested). Must be non-empty.
[in]	enable	True to enable contact, false to disable it.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: Contact is enabled by default. You only need to call this method if you wish to disable (or re-enable) contact for a specific layer pair.; Both layer-to-layer and actor-to-actor contact must be enabled for contact to occur.; Call twice with swapped arguments or use EnableLayerContactSymmetric to affect collision checks in both directions.; Calling this method with a layer name not previously seen in the scene registers it as a new contact layer, increasing GetNumContactLayers and adding the name to EnumerateContactLayerNames.

See also: EnableLayerContactSymmetric, EnableActorContactAsymmetric, IsLayerContactEnabled

◆ EnableLayerContactSymmetric()

virtual void superdex::Scene::EnableLayerContactSymmetric	(	std::string_view	layerA,
		std::string_view	layerB,
		bool	enable,
		Error &	error )

pure virtual

Equivalent to calling EnableLayerContactAsymmetric with layerA and layerB in both orders.

Parameters

[in]	layerA	Name of the first contact layer. Must be non-empty.
[in]	layerB	Name of the second contact layer. Must be non-empty.
[in]	enable	True to enable contact, false to disable it.
[in,out]	error	Error status. Check Error::IsOK for success.

See also: EnableLayerContactAsymmetric, EnableActorContactSymmetric, IsLayerContactEnabled

◆ EnumerateContactLayerNames()

virtual void superdex::Scene::EnumerateContactLayerNames ( std::function< void(std::string_view name)> const & callback ) const

pure virtual

Enumerate all unique contact layer names in the scene.

Parameters

[in] callback Function called once for each layer name.

Note: The callback fires GetNumContactLayers times.; Enumeration order is unspecified.

Warning: Do not register new contact layers from inside the callback. Doing so may invalidate the enumeration and cause undefined behavior.

See also: GetNumContactLayers

◆ ForEachActor() [1/2]

virtual void superdex::Scene::ForEachActor ( std::function< void(Actor *)> const & callback )

pure virtual

Iterate over all the actors in the scene using a callback.

Includes nested link actors and nested soft actors.

Parameters

[in] callback Function called once for each actor.

Note: To skip nested actors, check Actor::IsNestedLinkActor and Actor::IsNestedSoftActor inside the callback.

Warning: Destroying other actors or constraints from within the callback is illegal.

◆ ForEachActor() [2/2]

virtual void superdex::Scene::ForEachActor ( std::function< void(Actor const *)> const & callback ) const

pure virtual

Iterate over all the actors in the scene using a callback (const version).

Includes nested link actors and nested soft actors.

Parameters

[in] callback Function called once for each actor.

Note: To skip nested actors, check Actor::IsNestedLinkActor and Actor::IsNestedSoftActor inside the callback.

Warning: Destroying other actors or constraints from within the callback is illegal.

◆ ForEachConstraint() [1/2]

virtual void superdex::Scene::ForEachConstraint ( std::function< void(Constraint *)> const & callback )

pure virtual

Iterate over all the constraints in the scene using a callback.

Parameters

[in] callback Function called once for each constraint.

Note: Includes constraints created implicitly by CreateArticulatedActor (e.g. articulated joint limits).

Warning: Destroying other constraints or actors from within the callback is illegal.

◆ ForEachConstraint() [2/2]

virtual void superdex::Scene::ForEachConstraint ( std::function< void(Constraint const *)> const & callback ) const

pure virtual

Iterate over all the constraints in the scene using a callback (const version).

Parameters

[in] callback Function called once for each constraint.

Note: Includes constraints created implicitly by CreateArticulatedActor (e.g. articulated joint limits).

Warning: Destroying other constraints or actors from within the callback is illegal.

◆ GetActor() [1/2]

virtual Actor const * superdex::Scene::GetActor ( ActorHandle actor ) const

nodiscardpure virtual

Get a const pointer to the Actor associated with an ActorHandle.

Parameters

[in] actor Handle of the actor to retrieve. If valid, it must be owned by this scene.

Returns: Const pointer to the Actor, or nullptr if the handle does not currently identify an actor in this scene.

See also: Actor, ActorHandle, DestroyActor, Actor::GetHandle

◆ GetActor() [2/2]

virtual Actor * superdex::Scene::GetActor ( ActorHandle actor )

nodiscardpure virtual

Get the Actor pointer associated with an ActorHandle.

Parameters

[in] actor Handle of the actor to retrieve. If valid, it must be owned by this scene.

Returns: Pointer to the Actor, or nullptr if the handle does not currently identify an actor in this scene.

See also: Actor, ActorHandle, DestroyActor, Actor::GetHandle

◆ GetActors() [1/2]

virtual void superdex::Scene::GetActors	(	Span< Actor * >	outActors,
		Error &	error )

pure virtual

Get Actor pointers for all the actors in the scene.

Parameters

[out]	outActors	Output span to fill with Actor pointers. Must be of size GetNumActors().
[in,out]	error	Error status. Check Error::IsOK for success.

See also: GetNumActors, GetActor

◆ GetActors() [2/2]

virtual void superdex::Scene::GetActors	(	Span< Actor const * >	outActors,
		Error &	error ) const

pure virtual

Get const Actor pointers for all the actors in the scene.

Parameters

[out]	outActors	Output span to fill with const Actor pointers. Must be of size GetNumActors().
[in,out]	error	Error status. Check Error::IsOK for success.

See also: GetNumActors, GetActor

◆ GetConstraint() [1/2]

virtual Constraint const * superdex::Scene::GetConstraint ( ConstraintHandle constraint ) const

nodiscardpure virtual

Get the const Constraint pointer associated with a ConstraintHandle.

Parameters

[in] constraint Handle of the constraint to retrieve. If valid, it must be owned by this scene.

Returns: Const pointer to the Constraint, or nullptr if the handle does not currently identify a constraint in this scene.

See also: Constraint, ConstraintHandle, DestroyConstraint, Constraint::GetHandle

◆ GetConstraint() [2/2]

virtual Constraint * superdex::Scene::GetConstraint ( ConstraintHandle constraint )

nodiscardpure virtual

Get the Constraint pointer associated with a ConstraintHandle.

Parameters

[in] constraint Handle of the constraint to retrieve. If valid, it must be owned by this scene.

Returns: Pointer to the Constraint, or nullptr if the handle does not currently identify a constraint in this scene.

See also: Constraint, ConstraintHandle, DestroyConstraint, Constraint::GetHandle

◆ GetContext() [1/2]

virtual Context const * superdex::Scene::GetContext ( ) const

nodiscardpure virtual

Get read-only access to the Context that owns this scene.

Returns: Const pointer to the Context that owns this scene.

◆ GetContext() [2/2]

virtual Context * superdex::Scene::GetContext ( )

nodiscardpure virtual

Get the Context that owns this scene.

Returns: Pointer to the Context that owns this scene.

◆ GetDebugDraw() [1/2]

virtual DebugDraw const & superdex::Scene::GetDebugDraw ( ) const

nodiscardpure virtual

Get a const reference to the debug draw interface for this scene.

Returns: Const reference to the DebugDraw interface.

See also: DebugDraw

◆ GetDebugDraw() [2/2]

virtual DebugDraw & superdex::Scene::GetDebugDraw ( )

nodiscardpure virtual

Get the debug draw interface for this scene.

Returns: Reference to the DebugDraw interface.

See also: DebugDraw

◆ GetForceSingleIsland()

virtual bool superdex::Scene::GetForceSingleIsland ( ) const

nodiscardpure virtual

Get whether all actors are forced to be in a single simulation island.

Returns: True if all actors are forced into a single simulation island.

See also: SetForceSingleIsland

◆ GetGravity()

virtual Real3 superdex::Scene::GetGravity ( ) const

nodiscardpure virtual

Get the gravity vector in world frame.

Returns: Gravity vector [m/s^2] in world frame.

See also: SetGravity

◆ GetHandle()

virtual SceneHandle superdex::Scene::GetHandle ( ) const

pure virtual

Get the scene handle.

Returns: Scene's handle.

Note: Handles are safe to store and remain valid throughout the scene lifespan.; Call Context::GetScene to look up the scene's pointer from the scene's handle.

See also: Context::GetScene

◆ GetLastTimeStep()

virtual double superdex::Scene::GetLastTimeStep ( ) const

nodiscardpure virtual

Returns the time step size [s] from the most recent positive call to Step.

Returns: The time step size [s] from the most recent positive Step call.

Note: In a newly created scene, the return value is unspecified until the first positive Step call.; RestoreState and RestoreStateFromBytes restore this value from the captured state.; Calling Step with a zero time step (e.g. to refresh queries without advancing the simulation) does not update this value (i.e. it retains the value from the last positive time step).

◆ GetName()

virtual char const * superdex::Scene::GetName ( ) const

nodiscardpure virtual

Get the name of the scene.

Returns: Name of the scene.

◆ GetNumActors()

virtual int superdex::Scene::GetNumActors ( ) const

nodiscardpure virtual

Get the number of actors in the scene, including nested link actors and nested soft actors.

Returns: Number of actors in the scene.

Note: To count only top-level actors, iterate with ForEachActor and skip actors for which Actor::IsNestedLinkActor or Actor::IsNestedSoftActor returns true.

◆ GetNumConstraints()

virtual int superdex::Scene::GetNumConstraints ( ) const

nodiscardpure virtual

Get the number of constraints in the scene.

Returns: Number of constraints in the scene.

Note: Includes constraints created implicitly by CreateArticulatedActor (e.g. articulated joint limits).

◆ GetNumContactLayers()

virtual int superdex::Scene::GetNumContactLayers ( ) const

nodiscardpure virtual

Get the number of unique contact layer names in the scene.

Returns: Number of unique layer names in the scene.

Note: The count may include layer names not currently assigned to an actor.

See also: EnumerateContactLayerNames

◆ GetPerformanceStats()

virtual PerformanceStats superdex::Scene::GetPerformanceStats ( ) const

nodiscardpure virtual

Get timing and profiling metrics from the last simulation step.

Returns: The PerformanceStats from the last simulation step.

See also: PerformanceStats

◆ GetSolverParams()

virtual SolverParams superdex::Scene::GetSolverParams ( ) const

nodiscardpure virtual

Get the solver parameters.

Returns: Current solver parameters.

See also: SetSolverParams

◆ GetSolverStats()

virtual SolverStats superdex::Scene::GetSolverStats ( ) const

nodiscardpure virtual

Get solver convergence metrics from the last simulation step.

Returns: The SolverStats from the last simulation step.

See also: SolverStats, Actor::GetConvergenceStatus

◆ GetTotalSimulationTime()

virtual double superdex::Scene::GetTotalSimulationTime ( ) const

nodiscardpure virtual

Returns the total simulation time [s] in the scene.

Returns: The total simulation time [s].

Note: May not match the real-time that has elapsed.

◆ IsEqualState()

virtual bool superdex::Scene::IsEqualState	(	StateHandle	stateA,
		StateHandle	stateB ) const

nodiscardpure virtual

Return true if both StateHandles are valid and refer to identical state information (full precision).

Parameters

[in]	stateA	First StateHandle to compare
[in]	stateB	Second StateHandle to compare

Returns: True if both states are valid and identical.

◆ IsLayerContactEnabled()

virtual bool superdex::Scene::IsLayerContactEnabled	(	std::string_view	layerA,
		std::string_view	layerB ) const

nodiscardpure virtual

Check if collision detection is enabled for an ordered pair of contact layer names.

Order matters: refers only to the specified direction (actors in layerA checking against actors in layerB).

Parameters

[in]	layerA	Name of the layer of the "colliding" actor (the one checking for contact).
[in]	layerB	Name of the layer of the "collider" actor (the one with a ColliderType being tested).

Returns: True if layer-to-layer contact is enabled, false if layer-to-layer contact is disabled.

Note: Contact is enabled by default, so you will get true for any pair of layers unless overridden via EnableLayerContactAsymmetric or EnableLayerContactSymmetric.; This only checks the layer filter. Actor-to-actor contact can still be disabled with EnableActorContactAsymmetric or EnableActorContactSymmetric.

See also: EnableLayerContactAsymmetric, EnableLayerContactSymmetric

◆ IsRecording()

virtual bool superdex::Scene::IsRecording ( ) const

nodiscardpure virtual

Check if the scene is currently recording.

Returns: True if recording is active, false otherwise.

Note: A recording write failure does not end the recording session.

See also: StartRecording, StopRecording

◆ RegisterPostStepCallback()

virtual CallbackHandle superdex::Scene::RegisterPostStepCallback	(	std::string_view	debugName,
		std::function< void(StepInfo const &)>	callback,
		int	priority = kDefaultCallbackPriority )

nodiscardpure virtual

Register a callback to execute after each simulation step.

Parameters

[in]	debugName	Descriptive name for debugging and profiling.
[in]	callback	Callback function receiving StepInfo.
[in]	priority	Execution order. Lower values execute first (higher priority).

Returns: CallbackHandle for the registered callback.

Note: Callbacks run sequentially on the thread that calls Step, in increasing priority order (lower values first).; The relative order of callbacks registered with equal priority is unspecified. Assign distinct priorities when ordering matters.; Callbacks must be thread-safe if they access shared state.; Callbacks should not modify scene structure (add/remove actors/constraints).

See also: CancelCallback, RegisterPreStepCallback

◆ RegisterPreStepCallback()

virtual CallbackHandle superdex::Scene::RegisterPreStepCallback	(	std::string_view	debugName,
		std::function< void(StepInfo const &)>	callback,
		int	priority = kDefaultCallbackPriority )

nodiscardpure virtual

Register a callback to execute before each simulation step.

Parameters

[in]	debugName	Descriptive name for debugging and profiling.
[in]	callback	Callback function receiving StepInfo.
[in]	priority	Execution order. Lower values execute first (higher priority).

Returns: CallbackHandle for the registered callback.

Note: Callbacks run sequentially on the thread that calls Step, in increasing priority order (lower values first).; The relative order of callbacks registered with equal priority is unspecified. Assign distinct priorities when ordering matters.; Callbacks must be thread-safe if they access shared state.; Callbacks should not modify scene structure (add/remove actors/constraints).

See also: CancelCallback, RegisterPostStepCallback

◆ ReleaseAllStates()

virtual void superdex::Scene::ReleaseAllStates ( )

pure virtual

Release memory for all captured state and invalidate all prior StateHandle objects.

◆ ReleaseState()

virtual void superdex::Scene::ReleaseState ( StateHandle handle )

pure virtual

Release a StateHandle when you are done with it.

This frees up memory.

Parameters

[in] handle StateHandle to release.

Note: Redundant calls to ReleaseState will be ignored.

◆ RestoreState()

virtual void superdex::Scene::RestoreState	(	StateHandle	handle,
		bool	releaseImmediately,
		Error &	error )

pure virtual

Restore captured simulation state.

Optionally release the StateHandle at the same time.

Parameters

[in]	handle	StateHandle from a successful call to CaptureState.
[in]	releaseImmediately	If true, release the state handle immediately (as if ReleaseState were called), even if the restore fails.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: The StateHandle must have been captured from this Scene.; The scene composition (actors, constraints) must be the same as when the state was captured.

Warning: Does not create or destroy actors or constraints, or restore shapes, materials, or scene parameters. Captured mutable state on existing actors, including static actor transforms, is restored; if topology or persistent configuration changes, simulation results may differ.; Restoration is not transactional. If restoration fails, the scene may be partially modified. Restore a known-good checkpoint or recreate the scene before continuing.

See also: CaptureState, ReleaseState, ReleaseAllStates, RestoreStateFromBytes

◆ RestoreStateFromBytes()

virtual void superdex::Scene::RestoreStateFromBytes	(	Span< uint8_t const >	data,
		Error &	error )

pure virtual

Restore simulation state from a binary byte buffer produced by CaptureStateToBytes.

Parameters

[in]	data	State data from a successful call to CaptureStateToBytes.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: The byte buffer must have been captured from this or a compatible scene via CaptureStateToBytes.; The capture and restore scenes must use the same SuperDex Physics build.; The restore requirements from RestoreState apply, including scene composition (actors, constraints) being the same as when the state was captured.

Warning: Has the same restore scope and non-transactional failure behavior as RestoreState.

See also: CaptureStateToBytes, RestoreState

◆ SetForceSingleIsland()

virtual void superdex::Scene::SetForceSingleIsland ( bool forceSingleIsland )

pure virtual

Enables/disables forcing all actors in the scene to be in a single simulation island.

An island is a group of actors and constraints that are solved together. Islands are managed automatically based on proximity and other factors. Islands can be solved in parallel, which can greatly improve the performance of the scene. However, if you suspect that island partitioning might be causing a problem, then you can use this function to force all actors in the scene to be simulated in a single island.

Parameters

[in] forceSingleIsland Whether to force all actors to be in a single simulation island.

Warning: Forcing single-island is a debugging feature. It will hurt performance.

See also: GetForceSingleIsland

◆ SetGravity()

virtual void superdex::Scene::SetGravity ( Real3 const & gravity )

pure virtual

Set the gravity vector in world frame.

Parameters

[in] gravity Gravity vector [m/s^2] in world frame.

See also: GetGravity

◆ SetSolverParams()

virtual void superdex::Scene::SetSolverParams	(	SolverParams const &	params,
		Error &	error )

pure virtual

Set the solver parameters.

Parameters

[in]	params	Solver parameters to set.
[in,out]	error	Error status. Check Error::IsOK for success.

See also: GetSolverParams, SolverParams

◆ StartRecording()

virtual void superdex::Scene::StartRecording	(	std::string_view	filePath,
		RecordingParams const &	params,
		Error &	error )

pure virtual

Create or replace the specified file and start recording the scene to an HDF5 file.

Parameters

[in]	filePath	Path to the output recording file (case sensitive on some filesystems). File will be created or replaced.
[in]	params	Parameters controlling what data to record.
[in,out]	error	Error status. Check Error::IsOK for success.

Note: Enabling additional recording features will generally increase the recording file size and degrade performance.; If the scene is already recording, the previous recording is stopped before starting the new one.

Warning: Requires a build with HDF5 support.; The recording system may undergo a substantial refactor to expand its capabilities. Its API and recorded file format may change in future releases.

See also: StopRecording, IsRecording, RecordingParams

◆ Step()

virtual void superdex::Scene::Step ( double timeStepSec )

pure virtual

Advance the simulation of the Scene one step.

SuperDex Physics uses fully-implicit time integration, enabling substantially larger stable time steps than physics engines using explicit or semi-implicit methods, particularly for stiff systems. Fewer steps per simulated second often improve simulation performance and real-time factor.

Parameters

[in] timeStepSec Time step size [s]. Must be non-negative.

Note: Time steps of 10–25 ms (40–100 physics steps per simulated second) run robustly in most scenes, including complex contact-rich and deformable simulations. This is a practical starting range, not a guarantee. Smaller steps may still be required to resolve fast motion, accurately capture short-duration contact dynamics without excessive numerical dissipation, resolve dynamics associated with small geometric or discretization length scales, or improve nonlinear-solver convergence.; It is OK to use a different time step each time.; If the time step is zero, then the state of the simulation will not change, but pre-step and post-step callbacks will still be called, and queries will be updated.; If the time step is negative or NaN, no step is taken and an error is logged.

See also: IntegrationMethod

◆ StopRecording()

virtual void superdex::Scene::StopRecording ( )

pure virtual

Stop recording the scene and close the recording file.

See also: StartRecording, IsRecording

◆ UpdateDebugger()

virtual void superdex::Scene::UpdateDebugger ( )

pure virtual

This gives the debugger a chance to process messages that require reading or writing scene state.

Please call this periodically if you are not actively stepping the scene. If this function is never called and the scene is never stepped, then some debugger features will not work.

Note: Must be called on the scene's owning thread (like other Scene methods).

Member Data Documentation

◆ kDefaultCallbackPriority

int superdex::Scene::kDefaultCallbackPriority = 100

staticconstexpr

Default priority for callback ordering.

Lower values execute earlier (higher priority).

Definition at line 254 of file mochi_scene.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Scene()

Member Function Documentation

◆ CancelCallback()

◆ CaptureState()

◆ CaptureStateToBytes()

◆ CaptureStateToFile()

◆ CreateArticulated3dRotationRangeConstraint()

◆ CreateArticulated3dRotationTargetConstraint()

◆ CreateArticulatedActor()

◆ CreateArticulatedSingleDofRangeConstraint()

◆ CreateArticulatedSingleDofTargetConstraint()

◆ CreateDeformableNodePositionConstraint()

◆ CreateDeformableNodeToDeformableNodeConstraint()

◆ CreateDeformableNodeToRigidConstraint()

◆ CreateJointRotationRangeConstraint()

◆ CreateJointRotationTrackingConstraint()

◆ CreateRigidActor()

◆ CreateRigidPivotPositionConstraint()

◆ CreateRigidPivotRotationConstraint()

◆ CreateRigidPivotToRigidTargetConstraint()

◆ CreateRigidPrismaticJointConstraint()

◆ CreateRigidSphericalJointConstraint()

◆ CreateRodElementRotationToRigidConstraint()

◆ CreateSoftActor()

◆ CreateSoftSkinnedActor()

◆ DestroyActor() [1/2]

◆ DestroyActor() [2/2]

◆ DestroyConstraint() [1/2]

◆ DestroyConstraint() [2/2]

◆ EnableActorContactAsymmetric()

◆ EnableActorContactSymmetric()

◆ EnableLayerContactAsymmetric()

◆ EnableLayerContactSymmetric()

◆ EnumerateContactLayerNames()

◆ ForEachActor() [1/2]

◆ ForEachActor() [2/2]

◆ ForEachConstraint() [1/2]

◆ ForEachConstraint() [2/2]

◆ GetActor() [1/2]

◆ GetActor() [2/2]

◆ GetActors() [1/2]

◆ GetActors() [2/2]

◆ GetConstraint() [1/2]

◆ GetConstraint() [2/2]

◆ GetContext() [1/2]

◆ GetContext() [2/2]

◆ GetDebugDraw() [1/2]

◆ GetDebugDraw() [2/2]

◆ GetForceSingleIsland()

◆ GetGravity()

◆ GetHandle()

◆ GetLastTimeStep()

◆ GetName()

◆ GetNumActors()

◆ GetNumConstraints()

◆ GetNumContactLayers()

◆ GetPerformanceStats()

◆ GetSolverParams()

◆ GetSolverStats()

◆ GetTotalSimulationTime()

◆ IsEqualState()

◆ IsLayerContactEnabled()

◆ IsRecording()

◆ RegisterPostStepCallback()

◆ RegisterPreStepCallback()

◆ ReleaseAllStates()

◆ ReleaseState()

◆ RestoreState()

◆ RestoreStateFromBytes()

◆ SetForceSingleIsland()

◆ SetGravity()

◆ SetSolverParams()

◆ StartRecording()

◆ Step()

◆ StopRecording()