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

#include <PxArticulationReducedCoordinate.h>

Inheritance diagram for PxArticulationReducedCoordinate:

Collaboration diagram for PxArticulationReducedCoordinate:

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

virtual void	setArticulationFlags (PxArticulationFlags flags)=0
	Sets flags on the articulation. More...

virtual void	setArticulationFlag (PxArticulationFlag::Enum flag, bool value)=0
	Raises or clears a flag on the articulation. More...

virtual PxArticulationFlags	getArticulationFlags () const =0
	return PxArticulationFlags More...

virtual PxU32	getDofs () const =0
	returns the total Dofs of the articulation More...

virtual PxArticulationCache *	createCache () const =0
	create an articulation cache More...

virtual PxU32	getCacheDataSize () const =0
	Get the size of the articulation cache. More...

virtual void	zeroCache (PxArticulationCache &cache)=0
	zero all data in the articulation cache beside the cache version More...

virtual void	applyCache (PxArticulationCache &cache, const PxArticulationCacheFlags flag, bool autowake=true)=0
	apply the user defined data in the cache to the articulation system More...

virtual void	copyInternalStateToCache (PxArticulationCache &cache, const PxArticulationCacheFlags flag) const =0
	copy the internal data of the articulation to the cache More...

virtual void	releaseCache (PxArticulationCache &cache) const =0
	release an articulation cache More...

virtual void	packJointData (const PxReal maximum, PxReal reduced) const =0
	reduce the maximum data format to the reduced internal data More...

virtual void	unpackJointData (const PxReal reduced, PxReal maximum) const =0
	turn the reduced internal data to maximum joint data format More...

virtual void	commonInit () const =0
	initialize all the common data for inverse dynamics More...

virtual void	computeGeneralizedGravityForce (PxArticulationCache &cache) const =0
	determine the statically balance of the joint force of gravity for entire articulation. External force, joint velocity and joint acceleration are set to zero, the joint force returned will be purely determined by gravity. More...

virtual void	computeCoriolisAndCentrifugalForce (PxArticulationCache &cache) const =0
	determine coriolise and centrifugal force. External force, gravity and joint acceleration are set to zero, the joint force return will be coriolise and centrifugal force for each joint. More...

virtual void	computeGeneralizedExternalForce (PxArticulationCache &cache) const =0
	determine joint force change caused by external force. Gravity, joint acceleration and joint velocity are all set to zero. More...

virtual void	computeJointAcceleration (PxArticulationCache &cache) const =0
	determine the joint acceleration for each joint This is purely calculates the change in joint acceleration due to change in the joint force More...

virtual void	computeJointForce (PxArticulationCache &cache) const =0
	determine the joint force This is purely calculates the change in joint force due to change in the joint acceleration This means gravity and joint velocity will be zero More...

virtual void	computeDenseJacobian (PxArticulationCache &cache, PxU32 &nRows, PxU32 &nCols) const =0
	compute the dense Jacobian for the entire articulation in world space More...

virtual void	computeCoefficientMatrix (PxArticulationCache &cache) const =0
	compute the coefficient matrix for contact force. More...

virtual bool	computeLambda (PxArticulationCache &cache, PxArticulationCache &initialState, const PxReal *const jointTorque, const PxU32 maxIter) const =0
	compute the lambda value when the test impulse is 1 More...

virtual void	computeGeneralizedMassMatrix (PxArticulationCache &cache) const =0
	compute the joint-space inertia matrix More...

virtual void	addLoopJoint (PxJoint *joint)=0
	add loop joint to the articulation system for inverse dynamic More...

virtual void	removeLoopJoint (PxJoint *joint)=0
	remove loop joint from the articulation system More...

virtual PxU32	getNbLoopJoints () const =0
	returns the number of loop joints in the articulation More...

virtual PxU32	getLoopJoints (PxJoint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	returns the set of loop constraints in the articulation More...

virtual PxU32	getCoefficientMatrixSize () const =0
	returns the required size of coeffient matrix in the articulation. The coefficient matrix is number of constraint(loop joints) by total dofs. Constraint Torque = transpose(K) * lambda(). Lambda is a vector of number of constraints More...

virtual void	teleportRootLink (const PxTransform &pose, bool autowake)=0
	teleport root link to a new location More...

virtual PxSpatialVelocity	getLinkVelocity (const PxU32 linkId)=0
	return the link velocity in world space with the associated low-level link index(getLinkIndex()). More...

virtual PxSpatialVelocity	getLinkAcceleration (const PxU32 linkId)=0
	return the link acceleration in world space with the associated low-level link index(getLinkIndex()) 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	PxArticulationReducedCoordinate (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationReducedCoordinate (PxBaseFlags baseFlags)

virtual	~PxArticulationReducedCoordinate ()

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

◆ PxArticulationReducedCoordinate() [1/2]

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

inlineprotected

◆ PxArticulationReducedCoordinate() [2/2]

PX_INLINE PxArticulationReducedCoordinate::PxArticulationReducedCoordinate ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxArticulationReducedCoordinate()

virtual PxArticulationReducedCoordinate::~PxArticulationReducedCoordinate ( )

inlineprotectedvirtual

Member Function Documentation

◆ addLoopJoint()

virtual void PxArticulationReducedCoordinate::addLoopJoint ( PxJoint * joint )

pure virtual

add loop joint to the articulation system for inverse dynamic

Parameters

[in] joint required to add loop joint

See also: commonInit

◆ applyCache()

virtual void PxArticulationReducedCoordinate::applyCache	(	PxArticulationCache &	cache,
		const PxArticulationCacheFlags	flag,
		bool	autowake = `true`
	)

pure virtual

apply the user defined data in the cache to the articulation system

Parameters

[in]	cache	articulation data.
[in]	flag	The mode to use when determine which value in the cache will be applied to the articulation
[in]	autowake	Specify if the call should wake up the articulation if it is currently asleep. If true and the current wake counter value is smaller than PxSceneDesc::wakeCounterResetValue it will get increased to the reset value.

See also: createCache copyInternalStateToCache

◆ commonInit()

virtual void PxArticulationReducedCoordinate::commonInit ( ) const

pure virtual

initialize all the common data for inverse dynamics

◆ computeCoefficientMatrix()

virtual void PxArticulationReducedCoordinate::computeCoefficientMatrix ( PxArticulationCache & cache ) const

pure virtual

compute the coefficient matrix for contact force.

Parameters

[out] cache returns the coefficient matrix. Each column is the joint force effected by a contact based on impulse strength 1

See also: commonInit

◆ computeCoriolisAndCentrifugalForce()

virtual void PxArticulationReducedCoordinate::computeCoriolisAndCentrifugalForce ( PxArticulationCache & cache ) const

pure virtual

determine coriolise and centrifugal force. External force, gravity and joint acceleration are set to zero, the joint force return will be coriolise and centrifugal force for each joint.

Parameters

[in] cache data

See also: commonInit

◆ computeDenseJacobian()

virtual void PxArticulationReducedCoordinate::computeDenseJacobian	(	PxArticulationCache &	cache,
		PxU32 &	nRows,
		PxU32 &	nCols
	)		const

pure virtual

compute the dense Jacobian for the entire articulation in world space

Parameters

[out]	cache	sets cache.denseJacobian matrix. The matrix is indexed [nCols * row + column].
[out]	nRows	set to number of rows in matrix, which corresponds to the number of articulation links times 6.
[out]	nCols	set to number of columns in matrix, which corresponds to the number of joint DOFs, plus 6 in the case eFIX_BASE is false.

Note that this computes the dense representation of an inherently sparse matrix. Multiplication with this matrix maps joint space velocities to 6DOF world space linear and angular velocities.

◆ computeGeneralizedExternalForce()

virtual void PxArticulationReducedCoordinate::computeGeneralizedExternalForce ( PxArticulationCache & cache ) const

pure virtual

determine joint force change caused by external force. Gravity, joint acceleration and joint velocity are all set to zero.

Parameters

[in] cache data

See also: commonInit

◆ computeGeneralizedGravityForce()

virtual void PxArticulationReducedCoordinate::computeGeneralizedGravityForce ( PxArticulationCache & cache ) const

pure virtual

determine the statically balance of the joint force of gravity for entire articulation. External force, joint velocity and joint acceleration are set to zero, the joint force returned will be purely determined by gravity.

Parameters

[out] cache return joint forces which can counteract gravity force

See also: commonInit

◆ computeGeneralizedMassMatrix()

virtual void PxArticulationReducedCoordinate::computeGeneralizedMassMatrix ( PxArticulationCache & cache ) const

pure virtual

compute the joint-space inertia matrix

Parameters

[in] cache articulation data

See also: commonInit

◆ computeJointAcceleration()

virtual void PxArticulationReducedCoordinate::computeJointAcceleration ( PxArticulationCache & cache ) const

pure virtual

determine the joint acceleration for each joint This is purely calculates the change in joint acceleration due to change in the joint force

Parameters

[in] cache articulation data

See also: commonInit

◆ computeJointForce()

virtual void PxArticulationReducedCoordinate::computeJointForce ( PxArticulationCache & cache ) const

pure virtual

determine the joint force This is purely calculates the change in joint force due to change in the joint acceleration This means gravity and joint velocity will be zero

Parameters

[in] cache return joint force

See also: commonInit

◆ computeLambda()

virtual bool PxArticulationReducedCoordinate::computeLambda	(	PxArticulationCache &	cache,
		PxArticulationCache &	initialState,
		const PxReal *const	jointTorque,
		const PxU32	maxIter
	)		const

pure virtual

compute the lambda value when the test impulse is 1

Parameters

[in]	initialState	the initial state of the articulation system
[in]	jointTorque	M(q)*qddot + C(q,qdot) + g(q)
[in]	maxIter	maximum number of solver iterations to run. If the system converges, fewer iterations may be used.
[out]	cache	returns the coefficient matrix. Each column is the joint force effected by a contact based on impulse strength 1

See also: commonInit

◆ copyInternalStateToCache()

virtual void PxArticulationReducedCoordinate::copyInternalStateToCache	(	PxArticulationCache &	cache,
		const PxArticulationCacheFlags	flag
	)		const

pure virtual

copy the internal data of the articulation to the cache

Parameters

[in]	cache	articulation data
[in]	flag	this indicates what kind of data the articulation system need to copy to the cache

See also: createCache applyCache

◆ createCache()

virtual PxArticulationCache* PxArticulationReducedCoordinate::createCache ( ) const

pure virtual

create an articulation cache

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

◆ getArticulationFlags()

virtual PxArticulationFlags PxArticulationReducedCoordinate::getArticulationFlags ( ) const

pure virtual

return PxArticulationFlags

◆ getCacheDataSize()

virtual PxU32 PxArticulationReducedCoordinate::getCacheDataSize ( ) const

pure virtual

Get the size of the articulation cache.

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

◆ getCoefficientMatrixSize()

virtual PxU32 PxArticulationReducedCoordinate::getCoefficientMatrixSize ( ) const

pure virtual

returns the required size of coeffient matrix in the articulation. The coefficient matrix is number of constraint(loop joints) by total dofs. Constraint Torque = transpose(K) * lambda(). Lambda is a vector of number of constraints

Returns: bite size of the coefficient matrix(nc * n)

◆ getDofs()

virtual PxU32 PxArticulationReducedCoordinate::getDofs ( ) const

pure virtual

returns the total Dofs of the articulation

◆ getLinkAcceleration()

virtual PxSpatialVelocity PxArticulationReducedCoordinate::getLinkAcceleration ( const PxU32 linkId )

pure virtual

return the link acceleration in world space with the associated low-level link index(getLinkIndex())

Parameters

[in] linkId low-level link index

See also: getLinkIndex() in PxArticulationLink

◆ getLinkVelocity()

virtual PxSpatialVelocity PxArticulationReducedCoordinate::getLinkVelocity ( const PxU32 linkId )

pure virtual

return the link velocity in world space with the associated low-level link index(getLinkIndex()).

Parameters

[in] linkId low-level link index

See also: getLinkIndex() in PxArticulationLink

◆ getLoopJoints()

virtual PxU32 PxArticulationReducedCoordinate::getLoopJoints	(	PxJoint **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

returns the set of loop constraints in the articulation

Parameters

[in]	userBuffer	buffer into which to write an array of constraints pointers
[in]	bufferSize	the size of the buffer. If this is not large enough to contain all the pointers to links, only as many as will fit are written.
[in]	startIndex	Index of first link pointer to be retrieved

Returns: the number of links written into the buffer.

See also: ArticulationLink

◆ getNbLoopJoints()

virtual PxU32 PxArticulationReducedCoordinate::getNbLoopJoints ( ) const

pure virtual

returns the number of loop joints in the articulation

Returns: number of loop joints

◆ packJointData()

virtual void PxArticulationReducedCoordinate::packJointData	(	const PxReal *	maximum,
		PxReal *	reduced
	)		const

pure virtual

reduce the maximum data format to the reduced internal data

Parameters

[in]	maximum	joint data format
[out]	reduced	joint data format

◆ release()

virtual void PxArticulationReducedCoordinate::release ( )

pure virtual

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

Implements PxBase.

◆ releaseCache()

virtual void PxArticulationReducedCoordinate::releaseCache ( PxArticulationCache & cache ) const

pure virtual

release an articulation cache

Parameters

[in] cache the cache to release

See also: createCache applyCache copyInternalStateToCache

◆ removeLoopJoint()

virtual void PxArticulationReducedCoordinate::removeLoopJoint ( PxJoint * joint )

pure virtual

remove loop joint from the articulation system

Parameters

[in] joint required to remove loop joint

See also: commonInit

◆ setArticulationFlag()

virtual void PxArticulationReducedCoordinate::setArticulationFlag	(	PxArticulationFlag::Enum	flag,
		bool	value
	)

pure virtual

Raises or clears a flag on the articulation.

Parameters

[in]	flag	The articulation flag
[in]	value	true/false indicating whether to raise or clear the flag

◆ setArticulationFlags()

virtual void PxArticulationReducedCoordinate::setArticulationFlags ( PxArticulationFlags flags )

pure virtual

Sets flags on the articulation.

Parameters

[in] flags Articulation flags

◆ teleportRootLink()

virtual void PxArticulationReducedCoordinate::teleportRootLink	(	const PxTransform &	pose,
		bool	autowake
	)

pure virtual

teleport root link to a new location

Parameters

[in]	pose	the new location of the root link
[in]	autowake	wake up the articulation system

See also: commonInit

◆ unpackJointData()

virtual void PxArticulationReducedCoordinate::unpackJointData	(	const PxReal *	reduced,
		PxReal *	maximum
	)		const

pure virtual

turn the reduced internal data to maximum joint data format

Parameters

[in]	reduced	joint data format
[out]	maximum	joint data format

◆ zeroCache()

virtual void PxArticulationReducedCoordinate::zeroCache ( PxArticulationCache & cache )

pure virtual

zero all data in the articulation cache beside the cache version

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:

PxArticulationReducedCoordinate.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxArticulationReducedCoordinate() [1/2]

◆ PxArticulationReducedCoordinate() [2/2]

◆ ~PxArticulationReducedCoordinate()

Member Function Documentation

◆ addLoopJoint()

◆ applyCache()

◆ commonInit()

◆ computeCoefficientMatrix()

◆ computeCoriolisAndCentrifugalForce()

◆ computeDenseJacobian()

◆ computeGeneralizedExternalForce()

◆ computeGeneralizedGravityForce()

◆ computeGeneralizedMassMatrix()

◆ computeJointAcceleration()

◆ computeJointForce()

◆ computeLambda()

◆ copyInternalStateToCache()

◆ createCache()

◆ getArticulationFlags()

◆ getCacheDataSize()

◆ getCoefficientMatrixSize()

◆ getDofs()

◆ getLinkAcceleration()

◆ getLinkVelocity()

◆ getLoopJoints()

◆ getNbLoopJoints()

◆ packJointData()

◆ release()

◆ releaseCache()

◆ removeLoopJoint()

◆ setArticulationFlag()

◆ setArticulationFlags()

◆ teleportRootLink()

◆ unpackJointData()

◆ zeroCache()