Struct physx::articulation_base::ArticulationMap

#[repr(transparent)]pub struct ArticulationMap<T, C> where
    T: Articulation,
    C: ArticulationReducedCoordinate,  { /* fields omitted */ }

A wrapper for ArticulationBase, parametrized by the Articulation and ArticulationReducedCoordinate that may be it's most derived type. Use try_cast_map or as_* to cast to it's most derived type if specialized functionality is needed.

Implementations

impl<T, C> ArticulationMap<T, C> where
    T: Articulation,
    C: ArticulationReducedCoordinate, 

pub unsafe fn cast_map<'a, Ret, ArtFn, ArcFn>(
    &'a mut self,
    art_fn: ArtFn,
    arc_fn: ArcFn
) -> Ret where
    ArtFn: FnMut(&'a mut T) -> Ret,
    ArcFn: FnMut(&'a mut C) -> Ret, 

Safety

this relies on get_concrete_type to determine the articulation type, which has had issues with returning ConcreteType::Undefined for Actor subclasses. try_cast_map will return None when this would crash.

pub fn try_cast_map<'a, Ret, ArtFn, ArcFn>(
    &'a mut self,
    art_fn: ArtFn,
    arc_fn: ArcFn
) -> Option<Ret> where
    ArtFn: FnMut(&'a mut T) -> Ret,
    ArcFn: FnMut(&'a mut C) -> Ret, 

Calls one of the given functions and returns the result if the articulation can be safely cast to that type. If get_concrete_type does not return ConcreteType::Articulation or ConcreteType::ArticulationReducedCoordinate this call returns None.

pub fn as_articulation(&mut self) -> Option<&mut T>

Tries to cast to PxArticulation, returns None if get_concrete_type does not return ConcreteType::Articulation.

pub fn as_articulation_reduced_coordinate(&mut self) -> Option<&mut T>

Tries to cast to PxArticulationReducedCoordinate, returns None if get_concrete_type does not return ConcreteType::ArticulationReducedCoordinate.

Trait Implementations

impl<T, C> ArticulationBase for ArticulationMap<T, C> where
    T: Articulation,
    C: ArticulationReducedCoordinate, 

type ArticulationLink = T::ArticulationLink

pub fn set_solver_iteration_counts(
    &mut self,
    min_position_iters: u32,
    min_velocity_iters: u32
)

Sets the number of iterations the solver should perform. If the articulation is behaving erratically, increasing the iteration counts may improve stability.

pub fn get_solver_iteration_counts(&self) -> (u32, u32)

Get the number of (position, velocity) iterations the solver will perform.

pub fn is_sleeping(&self) -> bool

Check if the articulation is sleeping

pub fn set_sleep_threshold(&mut self, threshold: f32)

Set the inactivity threshold for sleeping this articulation

pub fn get_sleep_threshold(&self) -> f32

Read back the inactivity threshold

pub fn set_stabilization_threshold(&mut self, threshold: f32)

Set the stabilization threshold for this articulation

pub fn get_stabilization_threshold(&self) -> f32

Get the stabilization threshold for this articulation

pub fn set_wake_counter(&mut self, threshold: f32)

Set the counter for how many steps more the articulation will be awake if below the energy threshold. When this is non-zero, the articulation may sleep but is not required to do so depending on other factors.

pub fn get_wake_counter(&self) -> f32

Get the counter for how many steps more the agent will be awake if below the energy threshold.

pub fn wake_up(&mut self)

Wake up the articulation

pub fn put_to_sleep(&mut self)

Put the articulation to sleep immediately

pub fn get_nb_links(&self) -> usize

Get the total number of links on this articulation

pub fn root_link(&self) -> Option<&Self::ArticulationLink>

Get a reference the root link of this articulation if it has one

pub fn root_link_mut(&mut self) -> Option<&mut Self::ArticulationLink>

Get a mutable reference to the root link of this articulation if it has one

pub fn get_links(&self) -> Vec<&Self::ArticulationLink>

Get a vec of all the links

pub fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink>

Get a mutable vec of all the links

pub fn get_world_bounds(&self, inflation: f32) -> PxBounds3

Get the world bounds of this articulation

pub fn create_link(
    &mut self,
    parent: Option<&mut Self::ArticulationLink>,
    pose: &PxTransform,
    user_data: <Self::ArticulationLink as UserData>::UserData
) -> Option<&mut Self::ArticulationLink>

Add a link to this articulation

pub fn create_articulation_joint<J: ArticulationJointBase>(
    &mut self,
    parent: &mut Self::ArticulationLink,
    parent_frame: &PxTransform,
    child: &mut Self::ArticulationLink,
    child_frame: &PxTransform
) -> Option<&mut J>

Create a joint between two articulation Links

pub unsafe fn release_articulation_joint(
    &mut self,
    joint: &mut impl ArticulationJointBase
)

Release an articulation joint, freeing it.

impl<S, T, C> Class<S> for ArticulationMap<T, C> where
    PxArticulationBase: Class<S>,
    T: Articulation,
    C: ArticulationReducedCoordinate, 

pub fn as_ptr(&self) -> *const S

Returns a raw const pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer.

pub fn as_mut_ptr(&mut self) -> *mut S

Returns a raw mut pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer.