Trait physx::articulation_base::ArticulationBase[−][src]

pub trait ArticulationBase: Class<PxArticulationBase> + Base {
    type ArticulationLink: ArticulationLink;
    fn set_solver_iteration_counts(
        &mut self, 
        min_position_iters: u32, 
        min_velocity_iters: u32
    ) { ... }

    fn get_solver_iteration_counts(&self) -> (u32, u32) { ... }

    fn is_sleeping(&self) -> bool { ... }

    fn set_sleep_threshold(&mut self, threshold: f32) { ... }

    fn get_sleep_threshold(&self) -> f32 { ... }

    fn set_stabilization_threshold(&mut self, threshold: f32) { ... }

    fn get_stabilization_threshold(&self) -> f32 { ... }

    fn set_wake_counter(&mut self, threshold: f32) { ... }

    fn get_wake_counter(&self) -> f32 { ... }

    fn wake_up(&mut self) { ... }

    fn put_to_sleep(&mut self) { ... }

    fn get_nb_links(&self) -> usize { ... }

    fn root_link(&self) -> Option<&Self::ArticulationLink> { ... }

    fn root_link_mut(&mut self) -> Option<&mut Self::ArticulationLink> { ... }

    fn get_links(&self) -> Vec<&Self::ArticulationLink> { ... }

    fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink> { ... }

    fn get_world_bounds(&self, inflation: f32) -> PxBounds3 { ... }

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

    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> { ... }

    unsafe fn release_articulation_joint(
        &mut self, 
        joint: &mut impl ArticulationJointBase
    ) { ... }
}

Associated Types

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Provided methods

fn set_solver_iteration_counts(
    &mut self,
    min_position_iters: u32,
    min_velocity_iters: u32
)[src]

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

fn get_solver_iteration_counts(&self) -> (u32, u32)[src]

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

fn is_sleeping(&self) -> bool[src]

Check if the articulation is sleeping

fn set_sleep_threshold(&mut self, threshold: f32)[src]

Set the inactivity threshold for sleeping this articulation

fn get_sleep_threshold(&self) -> f32[src]

Read back the inactivity threshold

fn set_stabilization_threshold(&mut self, threshold: f32)[src]

Set the stabilization threshold for this articulation

fn get_stabilization_threshold(&self) -> f32[src]

Get the stabilization threshold for this articulation

fn set_wake_counter(&mut self, threshold: f32)[src]

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.

fn get_wake_counter(&self) -> f32[src]

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

fn wake_up(&mut self)[src]

Wake up the articulation

fn put_to_sleep(&mut self)[src]

Put the articulation to sleep immediately

Get the total number of links on this articulation

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

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

Get a vec of all the links

Get a mutable vec of all the links

fn get_world_bounds(&self, inflation: f32) -> PxBounds3[src]

Get the world bounds of this articulation

Add a link to this articulation

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>[src]

Create a joint between two articulation Links

unsafe fn release_articulation_joint(
    &mut self,
    joint: &mut impl ArticulationJointBase
)[src]

Release an articulation joint, freeing it.

Safety

attempting to use the joint after this call is invalid.

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Implementors

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