PxArticulationCache Class Reference

#include <PxArticulationReducedCoordinate.h>

Collaboration diagram for PxArticulationCache:

Public Types

enum  Enum {
  eVELOCITY = (1 << 0), eACCELERATION = (1 << 1), ePOSITION = (1 << 2), eFORCE = (1 << 3),
  eROOT = (1 << 4), eALL = (eVELOCITY | eACCELERATION | ePOSITION| eROOT)
}
 

Public Member Functions

 PxArticulationCache ()
 

Public Attributes

Cm::SpatialVector * externalForces
 
PxKinematicJacobianjacobian
 
PxReal * massMatrix
 
PxReal * jointVelocity
 
PxReal * jointAcceleration
 
PxReal * jointPosition
 
PxReal * jointForce
 
PxReal * coefficentMatrix
 
PxReal * lambda
 
PxArticulationRootLinkData rootLinkData
 
void * scratchMemory
 
void * scratchAllocator
 
PxU32 version
 

Member Enumeration Documentation

◆ Enum

Enumerator
eVELOCITY 

The joint velocities this frame. Note, this is the accumulated joint velocities, not change in joint velocity.

eACCELERATION 

The joint accelerations this frame. Delta velocity can be computed from acceleration * dt.

ePOSITION 

The joint positions this frame. Note, this is the accumulated joint positions over frames, not change in joint position.

eFORCE 

The joint forces this frame. Note, the application should provide these values for the forward dynamic. If the application is using inverse dynamic, this is the joint force returned.

eROOT 

Root link transform, velocity and acceleration. Note, when the application call applyCache with eROOT flag, it won't apply root link's acceleration to the simulation.

eALL 

Constructor & Destructor Documentation

◆ PxArticulationCache()

PxArticulationCache::PxArticulationCache ( )
inline

Member Data Documentation

◆ coefficentMatrix

PxReal* PxArticulationCache::coefficentMatrix

◆ externalForces

Cm::SpatialVector* PxArticulationCache::externalForces

◆ jacobian

PxKinematicJacobian* PxArticulationCache::jacobian

◆ jointAcceleration

PxReal* PxArticulationCache::jointAcceleration

◆ jointForce

PxReal* PxArticulationCache::jointForce

◆ jointPosition

PxReal* PxArticulationCache::jointPosition

◆ jointVelocity

PxReal* PxArticulationCache::jointVelocity

◆ lambda

PxReal* PxArticulationCache::lambda

◆ massMatrix

PxReal* PxArticulationCache::massMatrix

◆ rootLinkData

PxArticulationRootLinkData PxArticulationCache::rootLinkData

◆ scratchAllocator

void* PxArticulationCache::scratchAllocator

◆ scratchMemory

void* PxArticulationCache::scratchMemory

◆ version

PxU32 PxArticulationCache::version

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