a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver More...

#include <PxArticulation.h>

Inheritance diagram for PxArticulation:

Collaboration diagram for PxArticulation:

Public Member Functions
virtual void	release ()=0
	Releases the PxBase instance, please check documentation of release in derived class. More...

virtual void	setMaxProjectionIterations (PxU32 iterations)=0
	sets maxProjectionIterations. More...

virtual PxU32	getMaxProjectionIterations () const =0
	gets maxProjectionIterations. More...

virtual void	setSeparationTolerance (PxReal tolerance)=0
	sets separationTolerance. More...

virtual PxReal	getSeparationTolerance () const =0
	gets separationTolerance. More...

virtual void	setInternalDriveIterations (PxU32 iterations)=0
	sets the number of iterations used to compute the drive response to internal forces More...

virtual PxU32	getInternalDriveIterations () const =0
	gets internal driveIterations. More...

virtual void	setExternalDriveIterations (PxU32 iterations)=0
	sets the number of iterations for drive response to external forces. More...

virtual PxU32	getExternalDriveIterations () const =0
	gets externalDriveIterations. More...

virtual PxArticulationDriveCache *	createDriveCache (PxReal compliance, PxU32 driveIterations) const =0
	create a drive cache for applying impulses which are propagated to the entire articulation More...

virtual void	updateDriveCache (PxArticulationDriveCache &driveCache, PxReal compliance, PxU32 driveIterations) const =0
	update a drive cache More...

virtual void	releaseDriveCache (PxArticulationDriveCache &driveCache) const =0
	release a drive cache More...

virtual void	applyImpulse (PxArticulationLink *link, const PxArticulationDriveCache &driveCache, const PxVec3 &linearImpulse, const PxVec3 &angularImpulse)=0
	apply an impulse to an entire articulation More...

virtual void	computeImpulseResponse (PxArticulationLink *link, PxVec3 &linearResponse, PxVec3 &angularResponse, const PxArticulationDriveCache &driveCache, const PxVec3 &linearImpulse, const PxVec3 &angularImpulse) const =0
	determine the effect of applying an impulse to an entire articulation, without applying the impulse More...

Public Member Functions inherited from PxArticulationBase
virtual PxScene *	getScene () const =0
	Retrieves the scene which this articulation belongs to. More...

virtual void	setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0
	Sets the solver iteration counts for the articulation. More...

virtual void	getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0
	Retrieves the solver iteration counts. More...

virtual bool	isSleeping () const =0
	Returns true if this articulation is sleeping. More...

virtual void	setSleepThreshold (PxReal threshold)=0
	Sets the mass-normalized energy threshold below which an articulation may go to sleep. More...

virtual PxReal	getSleepThreshold () const =0
	Returns the mass-normalized energy below which an articulation may go to sleep. More...

virtual void	setStabilizationThreshold (PxReal threshold)=0
	Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization. More...

virtual PxReal	getStabilizationThreshold () const =0
	Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization. More...

virtual void	setWakeCounter (PxReal wakeCounterValue)=0
	Sets the wake counter for the articulation. More...

virtual PxReal	getWakeCounter () const =0
	Returns the wake counter of the articulation. More...

virtual void	wakeUp ()=0
	Wakes up the articulation if it is sleeping. More...

virtual void	putToSleep ()=0
	Forces the articulation to sleep. More...

virtual PxArticulationLink *	createLink (PxArticulationLink *parent, const PxTransform &pose)=0
	adds a link to the articulation with default attribute values. More...

virtual PxU32	getNbLinks () const =0
	returns the number of links in the articulation More...

virtual PxU32	getLinks (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	returns the set of links in the articulation More...

virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName(). More...

virtual const char *	getName () const =0
	Retrieves the name string set with setName(). More...

virtual PxBounds3	getWorldBounds (float inflation=1.01f) const =0
	Retrieves the axis aligned bounding box enclosing the articulation. More...

virtual PxAggregate *	getAggregate () const =0
	Retrieves the aggregate the articulation might be a part of. More...

virtual PxArticulationImpl *	getImpl ()=0

virtual const PxArticulationImpl *	getImpl () const =0

virtual	~PxArticulationBase ()

virtual PxArticulationJointBase *	createArticulationJoint (PxArticulationLink &parent, const PxTransform &parentFrame, PxArticulationLink &child, const PxTransform &childFrame)=0

virtual void	releaseArticulationJoint (PxArticulationJointBase *joint)=0

Public Member Functions inherited from PxBase
virtual const char *	getConcreteTypeName () const =0
	Returns string name of dynamic type. More...

template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object. More...

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag. More...

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags. More...

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags. More...

virtual bool	isReleasable () const
	Whether the object is subordinate. More...

Protected Member Functions
PX_INLINE	PxArticulation (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulation (PxBaseFlags baseFlags)

virtual	~PxArticulation ()

Protected Member Functions inherited from PxArticulationBase
PX_INLINE	PxArticulationBase (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationBase (PxBaseFlags baseFlags)

Protected Member Functions inherited from PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags. More...

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags. More...

virtual	~PxBase ()
	Destructor. More...

virtual bool	isKindOf (const char *superClass) const
	Returns whether a given type name matches with the type of this instance. More...

template<class T >
bool	typeMatch () const

Additional Inherited Members
Public Attributes inherited from PxArticulationBase
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object. More...

Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver

Articulations are more expensive to simulate than the equivalent collection of PxRigidDynamic and PxJoint structures, but because the dynamics solver treats each articulation as a single object, they are much less prone to separation and have better support for actuation. An articulation may have at most 64 links.

See also: PxArticulationJoint PxArticulationLink PxPhysics.createArticulation

Constructor & Destructor Documentation

◆ PxArticulation() [1/2]

PX_INLINE PxArticulation::PxArticulation	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)

inlineprotected

◆ PxArticulation() [2/2]

PX_INLINE PxArticulation::PxArticulation ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxArticulation()

virtual PxArticulation::~PxArticulation ( )

inlineprotectedvirtual

Member Function Documentation

◆ applyImpulse()

virtual void PxArticulation::applyImpulse	(	PxArticulationLink *	link,
		const PxArticulationDriveCache &	driveCache,
		const PxVec3 &	linearImpulse,
		const PxVec3 &	angularImpulse
	)

pure virtual

apply an impulse to an entire articulation

Parameters

[in]	link	the link to which to apply the impulse
[in]	driveCache	the drive cache
[in]	linearImpulse	the linear impulse to apply
[in]	angularImpulse	the angular impulse to apply

See also: computeImpulseResponse

Note: this call may only be made on articulations that are in a scene, and may not be made during simulation

◆ computeImpulseResponse()

virtual void PxArticulation::computeImpulseResponse	(	PxArticulationLink *	link,
		PxVec3 &	linearResponse,
		PxVec3 &	angularResponse,
		const PxArticulationDriveCache &	driveCache,
		const PxVec3 &	linearImpulse,
		const PxVec3 &	angularImpulse
	)		const

pure virtual

determine the effect of applying an impulse to an entire articulation, without applying the impulse

Parameters

[in]	link	the link to which to apply the impulse
[out]	linearResponse	the change in linear velocity of the articulation link
[out]	angularResponse	the change in angular velocity of the articulation link
[in]	driveCache	the drive cache
[in]	linearImpulse	the linear impulse to apply
[in]	angularImpulse	the angular impulse to apply

See also: applyImpulse

This call will wake up the articulation if it is asleep.

Note: this call may only be made on articulations that are in a scene, and may not be made during simulation

◆ createDriveCache()

virtual PxArticulationDriveCache* PxArticulation::createDriveCache	(	PxReal	compliance,
		PxU32	driveIterations
	)		const

pure virtual

create a drive cache for applying impulses which are propagated to the entire articulation

Parameters

[in]	compliance	the compliance value to use at all joints of the articulation. This is equivalent to the external compliance parameter for articulation joints, as the impulse is treated as an external force
[in]	driveIterations	the number of iterations to use to evaluate the drive strengths

Returns: a drive cache

See also: PxArticulationDriveCache updateDriveCache releaseDriveCache applyImpulse computeImpulseResponse

Note: this call may only be made on articulations that are in a scene, and may not be made during simulation

◆ getExternalDriveIterations()

virtual PxU32 PxArticulation::getExternalDriveIterations ( ) const

pure virtual

gets externalDriveIterations.

Returns: the number of iterations used to compute the drive response to external forces

See also: setExternalDriveIterations()

◆ getInternalDriveIterations()

virtual PxU32 PxArticulation::getInternalDriveIterations ( ) const

pure virtual

gets internal driveIterations.

Returns: the number of iterations used to compute the drive response to internal forces

See also: setInternalDriveIterations()

◆ getMaxProjectionIterations()

virtual PxU32 PxArticulation::getMaxProjectionIterations ( ) const

pure virtual

gets maxProjectionIterations.

Returns: the maximum number of projection iterations

See also: setMaxProjectionIterations()

◆ getSeparationTolerance()

virtual PxReal PxArticulation::getSeparationTolerance ( ) const

pure virtual

gets separationTolerance.

Returns: the separation tolerance

See also: setSeparationTolerance()

◆ release()

virtual void PxArticulation::release ( )

pure virtual

Releases the PxBase instance, please check documentation of release in derived class.

Implements PxBase.

◆ releaseDriveCache()

virtual void PxArticulation::releaseDriveCache ( PxArticulationDriveCache & driveCache ) const

pure virtual

release a drive cache

Parameters

[in] driveCache the drive cache to release

See also: createDriveCache updateDriveCache

◆ setExternalDriveIterations()

virtual void PxArticulation::setExternalDriveIterations ( PxU32 iterations )

pure virtual

sets the number of iterations for drive response to external forces.

The drive model uses an iterative algorithm to determine the load on each joint of the articulation. This is the number of iterations to use when computing response of the drive to external forces.

Parameters

[in] iterations the number of iterations used to compute the drive response to external forces.

Default: 4

See also: getExternalDriveIterations()

◆ setInternalDriveIterations()

virtual void PxArticulation::setInternalDriveIterations ( PxU32 iterations )

pure virtual

sets the number of iterations used to compute the drive response to internal forces

The drive model uses an iterative algorithm to determine the load on each joint of the articulation. This is the number of iterations to use when computing response of the drive to internal forces.

Parameters

[in] iterations the number of iterations used to compute the drive response to internal forces.

Default: 4

See also: getInternalDriveIterations()

◆ setMaxProjectionIterations()

virtual void PxArticulation::setMaxProjectionIterations ( PxU32 iterations )

pure virtual

sets maxProjectionIterations.

This is the maximum number of iterations to run projection on the articulation to bring the links back together if the separation tolerance is exceeded.

Parameters

[in] iterations the maximum number of projection iterations Default: 4

See also: getMaxProjectionIterations()

◆ setSeparationTolerance()

virtual void PxArticulation::setSeparationTolerance ( PxReal tolerance )

pure virtual

sets separationTolerance.

This is the maximum allowed separation of any joint in the articulation before projection is used

Default: 0.1f, scaled by the tolerance scale

Parameters

[in] tolerance the separation tolerance for the articulation

See also: getSeparationTolerance()

◆ updateDriveCache()

virtual void PxArticulation::updateDriveCache	(	PxArticulationDriveCache &	driveCache,
		PxReal	compliance,
		PxU32	driveIterations
	)		const

pure virtual

update a drive cache

Parameters

[in]	driveCache	the drive cache to update
[in]	compliance	the compliance value to use at all joints of the articulation.
[in]	driveIterations	the number of iterations to use to evaluate the drive strengths

See also: releaseDriveCache createDriveCache applyImpulse computeImpulseResponse

Note: this call may only be made on articulations that are in a scene, and may not be made during simulation

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

PxArticulation.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxArticulation() [1/2]

◆ PxArticulation() [2/2]

◆ ~PxArticulation()

Member Function Documentation

◆ applyImpulse()

◆ computeImpulseResponse()

◆ createDriveCache()

◆ getExternalDriveIterations()

◆ getInternalDriveIterations()

◆ getMaxProjectionIterations()

◆ getSeparationTolerance()

◆ release()

◆ releaseDriveCache()

◆ setExternalDriveIterations()

◆ setInternalDriveIterations()

◆ setMaxProjectionIterations()

◆ setSeparationTolerance()

◆ updateDriveCache()