a component of an articulation that represents a rigid body More...

#include <PxArticulationLink.h>

Inheritance diagram for PxArticulationLink:

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Collaboration diagram for PxArticulationLink:

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Public Member Functions
virtual void	release ()=0
	Deletes the articulation link. More...

virtual PxArticulationBase &	getArticulation () const =0
	get the articulation to which this articulation link belongs. This returns the base class. The application should establish which articulation implementation this actually is and upcast to that type to access non-common functionality More...

virtual PxArticulationJointBase *	getInboundJoint () const =0
	Get the joint which connects this link to its parent. More...

virtual PxU32	getInboundJointDof () const =0
	Get the degree of freedom of the joint which connects this link to its parent. More...

virtual PxU32	getNbChildren () const =0
	Get number of child links. More...

virtual PxU32	getLinkIndex () const =0
	Get low-level link index. More...

virtual PxU32	getChildren (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the child links. More...

virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type. More...

Public Member Functions inherited from PxRigidBody
virtual void	setCMassLocalPose (const PxTransform &pose)=0
	Sets the pose of the center of mass relative to the actor. More...

virtual PxTransform	getCMassLocalPose () const =0
	Retrieves the center of mass pose relative to the actor frame. More...

virtual void	setMass (PxReal mass)=0
	Sets the mass of a dynamic actor. More...

virtual PxReal	getMass () const =0
	Retrieves the mass of the actor. More...

virtual PxReal	getInvMass () const =0
	Retrieves the inverse mass of the actor. More...

virtual void	setMassSpaceInertiaTensor (const PxVec3 &m)=0
	Sets the inertia tensor, using a parameter specified in mass space coordinates. More...

virtual PxVec3	getMassSpaceInertiaTensor () const =0
	Retrieves the diagonal inertia tensor of the actor relative to the mass coordinate frame. More...

virtual PxVec3	getMassSpaceInvInertiaTensor () const =0
	Retrieves the diagonal inverse inertia tensor of the actor relative to the mass coordinate frame. More...

virtual void	setLinearDamping (PxReal linDamp)=0
	Sets the linear damping coefficient. More...

virtual PxReal	getLinearDamping () const =0
	Retrieves the linear damping coefficient. More...

virtual void	setAngularDamping (PxReal angDamp)=0
	Sets the angular damping coefficient. More...

virtual PxReal	getAngularDamping () const =0
	Retrieves the angular damping coefficient. More...

virtual PxVec3	getLinearVelocity () const =0
	Retrieves the linear velocity of an actor. More...

virtual void	setLinearVelocity (const PxVec3 &linVel, bool autowake=true)=0
	Sets the linear velocity of the actor. More...

virtual PxVec3	getAngularVelocity () const =0
	Retrieves the angular velocity of the actor. More...

virtual void	setAngularVelocity (const PxVec3 &angVel, bool autowake=true)=0
	Sets the angular velocity of the actor. More...

virtual void	setMaxAngularVelocity (PxReal maxAngVel)=0
	Lets you set the maximum angular velocity permitted for this actor. More...

virtual PxReal	getMaxAngularVelocity () const =0
	Retrieves the maximum angular velocity permitted for this actor. More...

virtual void	setMaxLinearVelocity (PxReal maxLinVel)=0
	Lets you set the maximum linear velocity permitted for this actor. More...

virtual PxReal	getMaxLinearVelocity () const =0
	Retrieves the maximum angular velocity permitted for this actor. More...

virtual void	addForce (const PxVec3 &force, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0
	Applies a force (or impulse) defined in the global coordinate frame to the actor at its center of mass. More...

virtual void	addTorque (const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0
	Applies an impulsive torque defined in the global coordinate frame to the actor. More...

virtual void	clearForce (PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Clears the accumulated forces (sets the accumulated force back to zero). More...

virtual void	clearTorque (PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Clears the impulsive torque defined in the global coordinate frame to the actor. More...

virtual void	setForceAndTorque (const PxVec3 &force, const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Sets the impulsive force and torque defined in the global coordinate frame to the actor. More...

virtual void	setRigidBodyFlag (PxRigidBodyFlag::Enum flag, bool value)=0
	Raises or clears a particular rigid body flag. More...

virtual void	setRigidBodyFlags (PxRigidBodyFlags inFlags)=0

virtual PxRigidBodyFlags	getRigidBodyFlags () const =0
	Reads the PxRigidBody flags. More...

virtual void	setMinCCDAdvanceCoefficient (PxReal advanceCoefficient)=0
	Sets the CCD minimum advance coefficient. More...

virtual PxReal	getMinCCDAdvanceCoefficient () const =0
	Gets the CCD minimum advance coefficient. More...

virtual void	setMaxDepenetrationVelocity (PxReal biasClamp)=0
	Sets the maximum depenetration velocity permitted to be introduced by the solver. This value controls how much velocity the solver can introduce to correct for penetrations in contacts. More...

virtual PxReal	getMaxDepenetrationVelocity () const =0
	Returns the maximum depenetration velocity the solver is permitted to introduced. This value controls how much velocity the solver can introduce to correct for penetrations in contacts. More...

virtual void	setMaxContactImpulse (PxReal maxImpulse)=0
	Sets a limit on the impulse that may be applied at a contact. The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body. More...

virtual PxReal	getMaxContactImpulse () const =0
	Returns the maximum impulse that may be applied at a contact. More...

virtual PxU32	getInternalIslandNodeIndex () const =0
	Returns the island node index that only for internal use only. More...

Public Member Functions inherited from PxRigidActor
virtual PxTransform	getGlobalPose () const =0
	Retrieves the actors world space transform. More...

virtual void	setGlobalPose (const PxTransform &pose, bool autowake=true)=0
	Method for setting an actor's pose in the world. More...

virtual bool	attachShape (PxShape &shape)=0

virtual void	detachShape (PxShape &shape, bool wakeOnLostTouch=true)=0

virtual PxU32	getNbShapes () const =0
	Returns the number of shapes assigned to the actor. More...

virtual PxU32	getShapes (PxShape **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the shape pointers belonging to the actor. More...

virtual PxU32	getNbConstraints () const =0
	Returns the number of constraint shaders attached to the actor. More...

virtual PxU32	getConstraints (PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the constraint shader pointers belonging to the actor. More...

Public Member Functions inherited from PxActor
virtual PxActorType::Enum	getType () const =0
	Retrieves the type of actor. More...

virtual PxScene *	getScene () const =0
	Retrieves the scene which this actor belongs to. 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 actor. More...

virtual void	setActorFlag (PxActorFlag::Enum flag, bool value)=0
	Raises or clears a particular actor flag. More...

virtual void	setActorFlags (PxActorFlags inFlags)=0
	sets the actor flags More...

virtual PxActorFlags	getActorFlags () const =0
	Reads the PxActor flags. More...

virtual void	setDominanceGroup (PxDominanceGroup dominanceGroup)=0
	Assigns dynamic actors a dominance group identifier. More...

virtual PxDominanceGroup	getDominanceGroup () const =0
	Retrieves the value set with setDominanceGroup(). More...

virtual void	setOwnerClient (PxClientID inClient)=0
	Sets the owner client of an actor. More...

virtual PxClientID	getOwnerClient () const =0
	Returns the owner client that was specified with at creation time. More...

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

Public Member Functions inherited from PxBase
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	PxArticulationLink (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationLink (PxBaseFlags baseFlags)

virtual	~PxArticulationLink ()

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

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

PX_INLINE	PxRigidBody (PxBaseFlags baseFlags)

virtual	~PxRigidBody ()

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

PX_INLINE	PxRigidActor (PxBaseFlags baseFlags)

virtual	~PxRigidActor ()

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

PX_INLINE	PxActor (PxBaseFlags baseFlags)

virtual	~PxActor ()

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...

template<class T >
bool	typeMatch () const

Additional Inherited Members
Public Attributes inherited from PxActor
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 component of an articulation that represents a rigid body

A limited subset of the properties of PxRigidDynamic are supported. In particular, sleep properties are attributes of the articulation rather than each individual body, damping and velocity limits are not supported, and links may not be kinematic.

See also: PxArticulation PxArticulation.createLink PxArticulationJoint PxRigidBody

Constructor & Destructor Documentation

◆ PxArticulationLink() [1/2]

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

inlineprotected

◆ PxArticulationLink() [2/2]

PX_INLINE PxArticulationLink::PxArticulationLink ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxArticulationLink()

virtual PxArticulationLink::~PxArticulationLink ( )

inlineprotectedvirtual

Member Function Documentation

◆ getArticulation()

virtual PxArticulationBase& PxArticulationLink::getArticulation ( ) const

pure virtual

get the articulation to which this articulation link belongs. This returns the base class. The application should establish which articulation implementation this actually is and upcast to that type to access non-common functionality

Returns: the articulation to which this link belongs

◆ getChildren()

virtual PxU32 PxArticulationLink::getChildren	(	PxArticulationLink **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Retrieve all the child links.

Parameters

[out]	userBuffer	The buffer to receive articulation link pointers.
[in]	bufferSize	Size of provided user buffer.

Returns: Number of articulation links written to the buffer.

Parameters

[in] startIndex Index of first child pointer to be retrieved

See also: getNbChildren()

◆ getConcreteTypeName()

virtual const char* PxArticulationLink::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

Returns: Class name of most derived type of this object.

Implements PxBase.

◆ getInboundJoint()

virtual PxArticulationJointBase* PxArticulationLink::getInboundJoint ( ) const

pure virtual

Get the joint which connects this link to its parent.

Returns: The joint connecting the link to the parent. NULL for the root link.

See also: PxArticulationJoint

◆ getInboundJointDof()

virtual PxU32 PxArticulationLink::getInboundJointDof ( ) const

pure virtual

Get the degree of freedom of the joint which connects this link to its parent.

Returns: The degree of freeedom of the joint connecting the link to the parent. 0xffffffff for the root link.

See also: PxArticulationJoint

◆ getLinkIndex()

virtual PxU32 PxArticulationLink::getLinkIndex ( ) const

pure virtual

Get low-level link index.

Returns: low-level index

◆ getNbChildren()

virtual PxU32 PxArticulationLink::getNbChildren ( ) const

pure virtual

Get number of child links.

Returns: the number of child links

See also: getChildren()

◆ isKindOf()

virtual bool PxArticulationLink::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

Returns whether a given type name matches with the type of this instance.

Reimplemented from PxRigidBody.

References PxRigidBody::isKindOf().

◆ release()

virtual void PxArticulationLink::release ( )

pure virtual

Deletes the articulation link.

Note: Only a leaf articulation link can be released

Do not keep a reference to the deleted instance.

See also: PxArticulation::createLink()

Implements PxRigidActor.

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

PxArticulationLink.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxArticulationLink() [1/2]

◆ PxArticulationLink() [2/2]

◆ ~PxArticulationLink()

Member Function Documentation

◆ getArticulation()

◆ getChildren()

◆ getConcreteTypeName()

◆ getInboundJoint()

◆ getInboundJointDof()

◆ getLinkIndex()

◆ getNbChildren()

◆ isKindOf()

◆ release()