a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver
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virtual void | release ()=0 |
| Releases the PxBase instance, please check documentation of release in derived class. More...
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virtual void | setMaxProjectionIterations (PxU32 iterations)=0 |
| sets maxProjectionIterations. More...
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virtual PxU32 | getMaxProjectionIterations () const =0 |
| gets maxProjectionIterations. More...
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virtual void | setSeparationTolerance (PxReal tolerance)=0 |
| sets separationTolerance. More...
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virtual PxReal | getSeparationTolerance () const =0 |
| gets separationTolerance. More...
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virtual void | setInternalDriveIterations (PxU32 iterations)=0 |
| sets the number of iterations used to compute the drive response to internal forces More...
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virtual PxU32 | getInternalDriveIterations () const =0 |
| gets internal driveIterations. More...
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virtual void | setExternalDriveIterations (PxU32 iterations)=0 |
| sets the number of iterations for drive response to external forces. More...
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virtual PxU32 | getExternalDriveIterations () const =0 |
| gets externalDriveIterations. More...
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virtual PxArticulationDriveCache * | createDriveCache (PxReal compliance, PxU32 driveIterations) const =0 |
| create a drive cache for applying impulses which are propagated to the entire articulation More...
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virtual void | updateDriveCache (PxArticulationDriveCache &driveCache, PxReal compliance, PxU32 driveIterations) const =0 |
| update a drive cache More...
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virtual void | releaseDriveCache (PxArticulationDriveCache &driveCache) const =0 |
| release a drive cache More...
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virtual void | applyImpulse (PxArticulationLink *link, const PxArticulationDriveCache &driveCache, const PxVec3 &linearImpulse, const PxVec3 &angularImpulse)=0 |
| apply an impulse to an entire articulation More...
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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...
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virtual PxScene * | getScene () const =0 |
| Retrieves the scene which this articulation belongs to. More...
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virtual void | setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0 |
| Sets the solver iteration counts for the articulation. More...
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virtual void | getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0 |
| Retrieves the solver iteration counts. More...
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virtual bool | isSleeping () const =0 |
| Returns true if this articulation is sleeping. More...
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virtual void | setSleepThreshold (PxReal threshold)=0 |
| Sets the mass-normalized energy threshold below which an articulation may go to sleep. More...
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virtual PxReal | getSleepThreshold () const =0 |
| Returns the mass-normalized energy below which an articulation may go to sleep. More...
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virtual void | setStabilizationThreshold (PxReal threshold)=0 |
| Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization. More...
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virtual PxReal | getStabilizationThreshold () const =0 |
| Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization. More...
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virtual void | setWakeCounter (PxReal wakeCounterValue)=0 |
| Sets the wake counter for the articulation. More...
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virtual PxReal | getWakeCounter () const =0 |
| Returns the wake counter of the articulation. More...
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virtual void | wakeUp ()=0 |
| Wakes up the articulation if it is sleeping. More...
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virtual void | putToSleep ()=0 |
| Forces the articulation to sleep. More...
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virtual PxArticulationLink * | createLink (PxArticulationLink *parent, const PxTransform &pose)=0 |
| adds a link to the articulation with default attribute values. More...
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virtual PxU32 | getNbLinks () const =0 |
| returns the number of links in the articulation More...
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virtual PxU32 | getLinks (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0 |
| returns the set of links in the articulation More...
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virtual void | setName (const char *name)=0 |
| Sets a name string for the object that can be retrieved with getName(). More...
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virtual const char * | getName () const =0 |
| Retrieves the name string set with setName(). More...
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virtual PxBounds3 | getWorldBounds (float inflation=1.01f) const =0 |
| Retrieves the axis aligned bounding box enclosing the articulation. More...
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virtual PxAggregate * | getAggregate () const =0 |
| Retrieves the aggregate the articulation might be a part of. More...
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virtual PxArticulationImpl * | getImpl ()=0 |
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virtual const PxArticulationImpl * | getImpl () const =0 |
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virtual PxArticulationBase::Enum | getType () const =0 |
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virtual | ~PxArticulationBase () |
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virtual PxArticulationJointBase * | createArticulationJoint (PxArticulationLink &parent, const PxTransform &parentFrame, PxArticulationLink &child, const PxTransform &childFrame)=0 |
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virtual void | releaseArticulationJoint (PxArticulationJointBase *joint)=0 |
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virtual const char * | getConcreteTypeName () const =0 |
| Returns string name of dynamic type. More...
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template<class T > |
T * | is () |
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template<class T > |
const T * | is () const |
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PX_FORCE_INLINE PxType | getConcreteType () const |
| Returns concrete type of object. More...
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PX_FORCE_INLINE void | setBaseFlag (PxBaseFlag::Enum flag, bool value) |
| Set PxBaseFlag. More...
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PX_FORCE_INLINE void | setBaseFlags (PxBaseFlags inFlags) |
| Set PxBaseFlags. More...
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PX_FORCE_INLINE PxBaseFlags | getBaseFlags () const |
| Returns PxBaseFlags. More...
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virtual bool | isReleasable () const |
| Whether the object is subordinate. More...
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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