Function createRigidActor

physx/samples/samplebridges/SampleBridges.cpp:127–162

// PT: TODO: use PhysXSampleApplication helper for this

static PxRigidActor* createRigidActor(	PxScene& scene, PxPhysics& physics,
										const PxTransform& pose, const PxGeometry& geometry, PxMaterial& material,
										const PxFilterData* fd, const PxReal* density, const PxReal* mass, PxU32 flags)
{
	const bool isDynamic = (density && *density) || (mass && *mass);

	PxRigidActor* actor = isDynamic ? static_cast<PxRigidActor*>(physics.createRigidDynamic(pose))
									: static_cast<PxRigidActor*>(physics.createRigidStatic(pose));
	if(!actor)
		return NULL;

	PxShape* shape = PxRigidActorExt::createExclusiveShape(*actor, geometry, material);
	if(!shape)
	{
		actor->release();
		return NULL;
	}

	if(fd)
		shape->setSimulationFilterData(*fd);

	if(isDynamic)
	{
		PxRigidDynamic* body = static_cast<PxRigidDynamic*>(actor);
		{
			if(density)
				PxRigidBodyExt::updateMassAndInertia(*body, *density);
			else
				PxRigidBodyExt::setMassAndUpdateInertia(*body, *mass);
		}
	}

	scene.addActor(*actor);

	return actor;
}

static PxRigidActor* createBox(	PxScene& scene, PxPhysics& physics, 
								const PxTransform& pose, const PxVec3& dimensions, const PxReal density, PxMaterial& m, const PxFilterData* fd, PxU32 flags)