Trait physx::articulation_base::ArticulationBase [−][src]
pub trait ArticulationBase: Class<PxArticulationBase> + Base { type ArticulationLink: ArticulationLink;}Show 20 methods
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
Provided methods
fn set_solver_iteration_counts(
&mut self,
min_position_iters: u32,
min_velocity_iters: u32
)
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.
Get the number of (position, velocity) iterations the solver will perform.
fn is_sleeping(&self) -> bool
fn is_sleeping(&self) -> bool
Check if the articulation is sleeping
fn set_sleep_threshold(&mut self, threshold: f32)
fn set_sleep_threshold(&mut self, threshold: f32)
Set the inactivity threshold for sleeping this articulation
fn get_sleep_threshold(&self) -> f32
fn get_sleep_threshold(&self) -> f32
Read back the inactivity threshold
fn set_stabilization_threshold(&mut self, threshold: f32)
fn set_stabilization_threshold(&mut self, threshold: f32)
Set the stabilization threshold for this articulation
fn get_stabilization_threshold(&self) -> f32
fn get_stabilization_threshold(&self) -> f32
Get the stabilization threshold for this articulation
fn set_wake_counter(&mut self, threshold: f32)
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.
fn get_wake_counter(&self) -> f32
fn get_wake_counter(&self) -> f32
Get the counter for how many steps more the agent will be awake if below the energy threshold.
fn put_to_sleep(&mut self)
fn put_to_sleep(&mut self)
Put the articulation to sleep immediately
fn get_nb_links(&self) -> usize
fn get_nb_links(&self) -> usize
Get the total number of links on this articulation
fn root_link(&self) -> Option<&Self::ArticulationLink>
fn root_link(&self) -> Option<&Self::ArticulationLink>
Get a reference the root link of this articulation if it has one
fn root_link_mut(&mut self) -> Option<&mut Self::ArticulationLink>
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
fn get_links(&self) -> Vec<&Self::ArticulationLink>
fn get_links(&self) -> Vec<&Self::ArticulationLink>
Get a vec of all the links
fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink>
fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink>
Get a mutable vec of all the links
fn get_world_bounds(&self, inflation: f32) -> PxBounds3
fn get_world_bounds(&self, inflation: f32) -> PxBounds3
Get the world bounds of this articulation
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_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
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>
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
unsafe fn release_articulation_joint(
&mut self,
joint: &mut impl ArticulationJointBase
)
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.
Implementors
impl<T, C> ArticulationBase for ArticulationMap<T, C> where
T: Articulation,
C: ArticulationReducedCoordinate,