Trait physx::articulation_base::ArticulationBase

pub trait ArticulationBase: Class<PxArticulationBase> + Base {
    type ArticulationLink: ArticulationLink;
    pub fn set_solver_iteration_counts(
        &mut self, 
        min_position_iters: u32, 
        min_velocity_iters: u32
    ) { ... }
    pub fn get_solver_iteration_counts(&self) -> (u32, u32) { ... }
    pub fn is_sleeping(&self) -> bool { ... }
    pub fn set_sleep_threshold(&mut self, threshold: f32) { ... }
    pub fn get_sleep_threshold(&self) -> f32 { ... }
    pub fn set_stabilization_threshold(&mut self, threshold: f32) { ... }
    pub fn get_stabilization_threshold(&self) -> f32 { ... }
    pub fn set_wake_counter(&mut self, threshold: f32) { ... }
    pub fn get_wake_counter(&self) -> f32 { ... }
    pub fn wake_up(&mut self) { ... }
    pub fn put_to_sleep(&mut self) { ... }
    pub fn get_nb_links(&self) -> usize { ... }
    pub fn root_link(&self) -> Option<&Self::ArticulationLink> { ... }
    pub fn root_link_mut(&mut self) -> Option<&mut Self::ArticulationLink> { ... }
    pub fn get_links(&self) -> Vec<&Self::ArticulationLink> { ... }
    pub fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink> { ... }
    pub fn get_world_bounds(&self, inflation: f32) -> PxBounds3 { ... }
    pub fn create_link(
        &mut self, 
        parent: Option<&mut Self::ArticulationLink>, 
        pose: &PxTransform, 
        user_data: <Self::ArticulationLink as UserData>::UserData
    ) -> Option<&mut Self::ArticulationLink> { ... }
    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> { ... }
    pub unsafe fn release_articulation_joint(
        &mut self, 
        joint: &mut impl ArticulationJointBase
    ) { ... }
}

Associated Types

type ArticulationLink: ArticulationLink

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Provided methods

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.

Safety

attempting to use the joint after this call is invalid.

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Implementors

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

type ArticulationLink = T::ArticulationLink

impl<U, Link: ArticulationLink> ArticulationBase for PxArticulation<U, Link>

type ArticulationLink = Link

impl<U, Link: ArticulationLink> ArticulationBase for PxArticulationReducedCoordinate<U, Link>

type ArticulationLink = Link

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