Performs an action such as applying an impulse on an entity.

#include 

// Applies an impulse on a physical entity
void ActionImpulse(IPhysicalEntity& physicalEntity)
{
    pe_action_impulse actionImpulse;
    // Apply the impulse one unit upwards
    // This can be combined with pe_action_impulse::point to apply the impulse on a specific point
    actionImpulse.impulse = Vec3(0, 0, 1);
    // Apply spin to the entity
    actionImpulse.angImpulse = Vec3(0, 0, 1);

    // IPhysicalEntity::Action may be queued if the physics thread is empty or there are other commands queued.
    // We can change isThreadSafe to 1 if we are operating on a physics thread to have to event processed immediately
    int isThreadSafe = 0;
    // Apply the impulse on the entity
    physicalEntity.Action(&actionImpulse, isThreadSafe);
}

AddGeometry - add a new entity part, containing pgeom; request can get queued params can be specialized depending on the entity type id is a requested geometry id (expected to be unique), if -1 - assign automatically returns geometry id (0..some number), -1 means error

Gets the parameters of a physical entity, uses the same structures as SetParams;

Returns

!0 if successful

#include 

// Queries the simulation parameters of an entity, for example to check current gravitational influence or mass.
void GetSimulationParameters(IPhysicalEntity& physicalEntity)
{
    pe_simulation_params simulationParameters;
    if (physicalEntity.GetParams(&simulationParameters))
    {
        /* simulationParameters can now be used */
    }
}

Gets the status of a physical entity, using the pe_status structure.

Returns

In most cases, >0 if successful - with special exception for some pe_status implementations.

#include 

// Gets the position of a physical entity using the pe_status_pos structure
void GetPhysicalEntityPosition(IPhysicalEntity& physicalEntity)
{
    // The pe_status_pos structure is used to query the world-coordinates of an entity
    pe_status_pos positionStatus;
    if (physicalEntity.GetStatus(&positionStatus))
    {
        /* positionStatus can now be used */
    }
}

Sets / changes parameters on a physical entity; can be queued and executed later if the physics is busy (unless bThreadSafe is flagged)

Returns

!0 if successful.

#include 

// Sets the position of a physical entity using the pe_params_pos structure
void SetPhysicalEntityPosition(IPhysicalEntity& physicalEntity)
{
    // The pe_params_pos structure is used to set position, orientation and scale
    pe_params_pos positionParams;
    // Move the entity to {50,50,50} in world coordinates
    positionParams.pos = Vec3(50, 50, 50);
    // Reset the entity orientation
    positionParams.q = IDENTITY;
    // Make sure we use default scaling (100%)
    positionParams.scale = 1.f;

    // IPhysicalEntity::SetParams may be queued if the physics thread is empty or there are other commands queued.
    // We can change isThreadSafe to 1 if we are operating on a physics thread to have to event processed immediately
    int isThreadSafe = 0;
    // Set the position on the entity
    physicalEntity.SetParams(&positionParams, isThreadSafe);
}