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
PxKinematicJacobian *	jacobian
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

enum PxArticulationCache::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

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

• PxArticulationReducedCoordinate.h