Trait physx::articulation_reduced_coordinate::ArticulationReducedCoordinate

pub trait ArticulationReducedCoordinate: Class<PxArticulationReducedCoordinate> + ArticulationBase + UserData {
    unsafe fn from_raw(
        ptr: *mut PxArticulationReducedCoordinate, 
        user_data: Self::UserData
    ) -> Option<Owner<Self>> { ... }
    fn get_user_data(&self) -> &Self::UserData { ... }
    fn get_user_data_mut(&mut self) -> &mut Self::UserData { ... }
    fn common_init(&mut self) { ... }
    fn get_dofs(&self) -> usize { ... }
    fn set_articulation_flag(&mut self, flag: ArticulationFlag, value: bool) { ... }
    fn set_articulation_flags(&mut self, flag: ArticulationFlag) { ... }
    fn get_articulation_flags(&self) -> ArticulationFlags { ... }
    fn teleport_to(&mut self, pose: &PxTransform) { ... }
    fn create_cache(&self) -> Option<ArticulationCache> { ... }
    fn release_cache(&self, cache: ArticulationCache) { ... }
    fn get_cache_data_size(&self) -> u32 { ... }
    fn zero_cache(&mut self, cache: &mut ArticulationCache) { ... }
    fn apply_cache(
        &mut self, 
        cache: &mut ArticulationCache, 
        flag: BitFlags<ArticulationCacheFlag>, 
        autowake: bool
    ) { ... }
    fn copy_internal_state_to_cache(
        &self, 
        cache: &mut ArticulationCache, 
        flag: BitFlags<ArticulationCacheFlag>
    ) { ... }
    fn compute_generalized_gravity_force(&self, cache: &mut ArticulationCache) { ... }
    fn compute_coriolis_and_centrifugal_force(
        &self, 
        cache: &mut ArticulationCache
    ) { ... }
    fn compute_generalized_external_force(&self, cache: &mut ArticulationCache) { ... }
    fn compute_joint_acceleration(&self, cache: &mut ArticulationCache) { ... }
    fn compute_joint_force(&self, cache: &mut ArticulationCache) { ... }
    fn compute_dense_jacobian(
        &self, 
        cache: &mut ArticulationCache
    ) -> (u32, u32) { ... }
    fn compute_coefficient_matrix(&self, cache: &mut ArticulationCache) { ... }
    fn compute_lambda(
        &self, 
        cache: &mut ArticulationCache, 
        initial_state: &mut ArticulationCache, 
        joint_torques: &[f32], 
        max_iter: u32
    ) -> bool { ... }
    fn compute_generalized_mass_matrix(&self, cache: &mut ArticulationCache) { ... }
    fn pack_joint_data(&self, maximum: &[f32], reduced: &mut [f32]) { ... }
    fn unpack_joint_data(&self, reduced: &[f32], maximum: &mut [f32]) { ... }
    fn get_center_of_mass(&self) -> PxVec3 { ... }
    fn get_center_of_mass_and_velocity(&self) -> (PxVec3, PxVec3) { ... }
    fn set_collision_filter(
        &mut self, 
        this_layer: BitFlags<CollisionLayer>, 
        other_layer: BitFlags<CollisionLayer>
    ) { ... }
    fn set_query_filter(&mut self, this_layer: BitFlags<CollisionLayer>) { ... }
}

Provided methods

unsafe fn from_raw(
    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.

fn get_user_data(&self) -> &Self::UserData

Get a reference to the user data.

fn get_user_data_mut(&mut self) -> &mut Self::UserData

Get a mutable reference to the user data.

fn common_init(&mut self)

fn get_dofs(&self) -> usize

Get the number of dofs for the body

fn set_articulation_flag(&mut self, flag: ArticulationFlag, value: bool)

Set an articulation flag

fn set_articulation_flags(&mut self, flag: ArticulationFlag)

Set the articulation flags

fn get_articulation_flags(&self) -> ArticulationFlags

Get the articulation flags

fn teleport_to(&mut self, pose: &PxTransform)

Teleport the whole body to the transform and and orientation given by Pose

fn create_cache(&self) -> Option<ArticulationCache>

Create a new cache for this articulation

fn release_cache(&self, cache: ArticulationCache)

Release the cache and free the memory

fn get_cache_data_size(&self) -> u32

Get the memory size of this cache

fn zero_cache(&mut self, cache: &mut ArticulationCache)

Zero everything in the cache

fn apply_cache(
    &mut self,
    cache: &mut ArticulationCache,
    flag: BitFlags<ArticulationCacheFlag>,
    autowake: bool
)

Apply the cache to the articulation

fn copy_internal_state_to_cache(
    &self,
    cache: &mut ArticulationCache,
    flag: BitFlags<ArticulationCacheFlag>
)

Copy from the articulation to the cache based on the flags

fn compute_generalized_gravity_force(&self, cache: &mut ArticulationCache)

Compute generalized gravity forces acting upon the body and store in cache

fn compute_coriolis_and_centrifugal_force(&self, cache: &mut ArticulationCache)

Compute the coriolis and centrifugal forces acting upon the multibody

fn compute_generalized_external_force(&self, cache: &mut ArticulationCache)

Compute joint force changes caused by external forces

fn compute_joint_acceleration(&self, cache: &mut ArticulationCache)

Compute joint acceleration caused by current joint forces

fn compute_joint_force(&self, cache: &mut ArticulationCache)

Compute joint force caused by changes in joint acceleration

fn compute_dense_jacobian(&self, cache: &mut ArticulationCache) -> (u32, u32)

Compute dense jacobian and store into the cache. Returns: (cols, rows)

fn compute_coefficient_matrix(&self, cache: &mut ArticulationCache)

Compute the coefficient matrix and store into cache

fn compute_lambda(
    &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

fn compute_generalized_mass_matrix(&self, cache: &mut ArticulationCache)

Compute the generalized mass matrix and store into the cache

fn pack_joint_data(&self, maximum: &[f32], reduced: &mut [f32])

Pack the maximum coordinates data in maximum into the reduced coordinates data.

fn unpack_joint_data(&self, reduced: &[f32], maximum: &mut [f32])

Unpack the reduced/generalized coordinates data in reduced into maximum. Maximum needs to have six slots for every joint.

fn get_center_of_mass(&self) -> PxVec3

Compute the total center of mass w.r.t. all attached shapes

fn get_center_of_mass_and_velocity(&self) -> (PxVec3, PxVec3)

Compute the total center of mass and velocity w.r.t. all attached shapes

fn set_collision_filter(
    &mut self,
    this_layer: BitFlags<CollisionLayer>,
    other_layer: BitFlags<CollisionLayer>
)

Set the collision layer on all links and shapes of this body

fn set_query_filter(&mut self, this_layer: BitFlags<CollisionLayer>)

Set the collision layer on all links and shapes of this body

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Implementors

impl<U, L: ArticulationLink> ArticulationReducedCoordinate for PxArticulationReducedCoordinate<U, L>

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