Collision filtering confusion

Gaming and Visualization Technologies APIs Physics Modeling (closed)
1

I’m confused trying to set up a 2.8.x style collision group system.

It says in the manual that collision groups are gone, and provides an example where you simply have to put the group int in filterData.word0.
I also noticed PxDefaultSimulationFilterShader.h theres a system already setup, not mentioned in the manual, with handy looking functions like PxSetGroup(PxActor& actor, const PxU16 collisionGroup);

However, all the scene queries and raycasts use the internal fixed-function applyFilterEquation() to filter the results, which just does:
const PxU32 keep = (queryFd.word0 & objFd.word0) | (queryFd.word1 & objFd.word1) | (queryFd.word2 & objFd.word2) | (queryFd.word3 & objFd.word3);

But that’s obviously assuming that the .word0 is a bitmask of the collision group, not a straight int.
So it seems that scene queries and collision filtering are both using the FilterData in different, incompatible ways?

2

There are separate filter data for both the simulation (what you need to replicate the 2.8 groups) and the scene queries.

See PxShape:

virtual void setSimulationFilterData(const PxFilterData& data) = 0;
virtual void setQueryFilterData(const PxFilterData& data) = 0;