Function physx_sys::PxArticulationReducedCoordinate_updateKinematic_mut

source · 
pub unsafe extern "C" fn PxArticulationReducedCoordinate_updateKinematic_mut(
    self_: *mut PxArticulationReducedCoordinate,
    flags: PxArticulationKinematicFlags
)
Expand description

Update link velocities and/or positions in the articulation.

For performance, prefer the PxArticulationCache API that performs batch articulation state updates.

If the application updates the root state (position and velocity) or joint state via any combination of the non-cache API calls

  • setRootGlobalPose(), setRootLinearVelocity(), setRootAngularVelocity()
  • PxArticulationJointReducedCoordinate::setJointPosition(), PxArticulationJointReducedCoordinate::setJointVelocity()

the application needs to call this method after the state setting in order to update the link states for the next simulation frame or querying.

Use

  • PxArticulationKinematicFlag::ePOSITION after any changes to the articulation root or joint positions using non-cache API calls. Updates links’ positions and velocities.
  • PxArticulationKinematicFlag::eVELOCITY after velocity-only changes to the articulation root or joints using non-cache API calls. Updates links’ velocities only.

This call may only be made on articulations that are in a scene, and may not be made during simulation.