[−][src]Trait physx::articulation_reduced_coordinate::ArticulationReducedCoordinate
Provided methods
pub unsafe fn from_raw(
ptr: *mut PxArticulationReducedCoordinate,
user_data: Self::UserData
) -> Option<Owner<Self>>
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ptr: *mut PxArticulationReducedCoordinate,
user_data: Self::UserData
) -> Option<Owner<Self>>
Safety
Owner's own the pointer they wrap, using the pointer after dropping the Owner,
or creating multiple Owners from the same pointer will cause UB. Use into_ptr
to
retrieve the pointer and consume the Owner without dropping the pointee.
This also sets the user data field, all constructors must initialize user data.
pub fn get_user_data(&self) -> &Self::UserData
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Get a reference to the user data.
pub fn get_user_data_mut(&mut self) -> &mut Self::UserData
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Get a mutable reference to the user data.
pub fn common_init(&mut self)
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pub fn get_dofs(&self) -> usize
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Get the number of dofs for the body
pub fn set_articulation_flag(&mut self, flag: ArticulationFlag, value: bool)
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Set an articulation flag
pub fn set_articulation_flags(&mut self, flag: ArticulationFlag)
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Set the articulation flags
pub fn get_articulation_flags(&self) -> ArticulationFlags
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Get the articulation flags
pub fn teleport_to(&mut self, pose: &PxTransform)
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Teleport the whole body to the transform and and orientation given by Pose
pub fn create_cache(&self) -> Option<ArticulationCache>
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Create a new cache for this articulation
pub fn release_cache(&self, cache: ArticulationCache)
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Release the cache and free the memory
pub fn get_cache_data_size(&self) -> u32
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Get the memory size of this cache
pub fn zero_cache(&mut self, cache: &mut ArticulationCache)
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Zero everything in the cache
pub fn apply_cache(
&mut self,
cache: &mut ArticulationCache,
flag: BitFlags<ArticulationCacheFlag>,
autowake: bool
)
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&mut self,
cache: &mut ArticulationCache,
flag: BitFlags<ArticulationCacheFlag>,
autowake: bool
)
Apply the cache to the articulation
pub fn copy_internal_state_to_cache(
&self,
cache: &mut ArticulationCache,
flag: BitFlags<ArticulationCacheFlag>
)
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&self,
cache: &mut ArticulationCache,
flag: BitFlags<ArticulationCacheFlag>
)
Copy from the articulation to the cache based on the flags
pub fn compute_generalized_gravity_force(&self, cache: &mut ArticulationCache)
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Compute generalized gravity forces acting upon the body and store in cache
pub fn compute_coriolis_and_centrifugal_force(
&self,
cache: &mut ArticulationCache
)
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&self,
cache: &mut ArticulationCache
)
Compute the coriolis and centrifugal forces acting upon the multibody
pub fn compute_generalized_external_force(&self, cache: &mut ArticulationCache)
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Compute joint force changes caused by external forces
pub fn compute_joint_acceleration(&self, cache: &mut ArticulationCache)
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Compute joint acceleration caused by current joint forces
pub fn compute_joint_force(&self, cache: &mut ArticulationCache)
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Compute joint force caused by changes in joint acceleration
pub fn compute_dense_jacobian(
&self,
cache: &mut ArticulationCache
) -> (u32, u32)
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&self,
cache: &mut ArticulationCache
) -> (u32, u32)
Compute dense jacobian and store into the cache. Returns: (cols, rows)
pub fn compute_coefficient_matrix(&self, cache: &mut ArticulationCache)
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Compute the coefficient matrix and store into cache
pub fn compute_lambda(
&self,
cache: &mut ArticulationCache,
initial_state: &mut ArticulationCache,
joint_torques: &[f32],
max_iter: u32
) -> bool
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&self,
cache: &mut ArticulationCache,
initial_state: &mut ArticulationCache,
joint_torques: &[f32],
max_iter: u32
) -> bool
Compute the force needed to match the velocity and acceleration values given in initial_state
pub fn compute_generalized_mass_matrix(&self, cache: &mut ArticulationCache)
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Compute the generalized mass matrix and store into the cache
pub fn pack_joint_data(&self, maximum: &[f32], reduced: &mut [f32])
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Pack the maximum coordinates data in maximum
into the reduced
coordinates data.
pub fn unpack_joint_data(&self, reduced: &[f32], maximum: &mut [f32])
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Unpack the reduced/generalized coordinates data in reduced
into maximum
. Maximum needs to have six slots for every joint.
pub fn get_center_of_mass(&self) -> PxVec3
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Compute the total center of mass w.r.t. all attached shapes
pub fn get_center_of_mass_and_velocity(&self) -> (PxVec3, PxVec3)
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Compute the total center of mass and velocity w.r.t. all attached shapes
pub fn set_collision_filter(
&mut self,
this_layer: BitFlags<CollisionLayer>,
other_layer: BitFlags<CollisionLayer>
)
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&mut self,
this_layer: BitFlags<CollisionLayer>,
other_layer: BitFlags<CollisionLayer>
)
Set the collision layer on all links and shapes of this body
pub fn set_query_filter(&mut self, this_layer: BitFlags<CollisionLayer>)
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Set the collision layer on all links and shapes of this body