Struct physx::articulation_link::PxArticulationLink

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#[repr(transparent)]
pub struct PxArticulationLink<L, Geom: Shape> { /* private fields */ }

Expand description

A new type wrapper for PxArticulationLink. Parametrized by it’s user data type, and the type of it’s Shapes.

Trait Implementations

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impl<L, Geom: Shape> ArticulationLink for PxArticulationLink<L, Geom>

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unsafe fn from_raw(
ptr: *mut PxArticulationLink,
user_data: Self::UserData
) -> Option<Owner<Self>>

Safety Read more

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

Get the user data.

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

Get the user data.

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fn enable_collision(&mut self, enable: bool)

Enable collisions for this link. Equivalent to setting SimulationShape to false for all attached shapes.

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fn get_inbound_joint(&self) -> Option<&JointMap>

Get inbound joint for this link

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fn get_link_index(&self) -> u32

Get the index of the this link in it’s parent articulation’s link list.

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fn get_inbound_joint_dof(&self) -> u32

Get the degrees of freedom of the inbound joint.

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fn get_nb_children(&self) -> u32

Get the number of children links this link has.

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fn get_children(&self) -> Vec<&Self>

Gets a Vec of the child links of this link.

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impl<P, L, Geom: Shape> Class for PxArticulationLink<L, Geom> where
PxArticulationLink: Class,

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fn as_ptr(&self) -> *const P

Returns a raw const pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer. Read more

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fn as_mut_ptr(&mut self) -> *mut P

Returns a raw mut pointer to the wrapped type. Retrieving a raw pointer is safe. However, pretty much any use of a raw pointer is unsafe. In particular: this pointer should not be used to construct a second owning wrapper around the pointer. Read more

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impl<L, Geom: Shape> Drop for PxArticulationLink<L, Geom>

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fn drop(&mut self)

Executes the destructor for this type. Read more

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impl<L, Geom: Shape> RigidActor for PxArticulationLink<L, Geom>

type Shape = Geom

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fn get_nb_constraints(&self) -> u32

Get the number of constraints on this rigid actor.

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fn get_constraints(&mut self) -> Vec<&mut Constraint>

Get the constraints effecting this rigid actor.

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fn get_global_pose(&self) -> PxTransform

Get the global pose of this rigid actor. The scale is implicitly 1.0.

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fn get_global_position(&self) -> PxVec3

Get the global pose of this rigid actor.

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fn get_global_rotation(&self) -> PxQuat

Get the global rotation of this rigid actor.

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fn set_global_pose(&mut self, pose: &PxTransform, autowake: bool)

Set the global pose of this rigid actor

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fn get_nb_shapes(&self) -> u32

Get number of attached shapes

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fn get_shapes(&self) -> Vec<&Self::Shape>

Get a reference to every Shape attached to this actor.

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fn get_shapes_mut(&mut self) -> Vec<&mut Self::Shape>

Get a mutable reference to every Shape attached to this actor.

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fn set_collision_filter(
 &mut self,
 this_layers: BitFlags<CollisionLayer>,
 other_layers: BitFlags<CollisionLayer>,
 word3: u32,
 word4: u32
)

Set the collision filter. Collisions will only occur if this_layers & other_layers != 0.

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

Set the query filter. Queries will only find this item if queried with one of the flags.

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fn attach_shape(&mut self, shape: &mut Self::Shape) -> bool

Attach a shape.

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fn detach_shape(&mut self, shape: &mut Self::Shape)

Detach a shape.

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impl<L: Send, Geom: Shape + Send> Send for PxArticulationLink<L, Geom>

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impl<L: Sync, Geom: Shape + Sync> Sync for PxArticulationLink<L, Geom>

Auto Trait Implementations

impl<L, Geom> RefUnwindSafe for PxArticulationLink<L, Geom> where
Geom: RefUnwindSafe,
L: RefUnwindSafe,

impl<L, Geom> Unpin for PxArticulationLink<L, Geom> where
Geom: Unpin,
L: Unpin,

impl<L, Geom> UnwindSafe for PxArticulationLink<L, Geom> where
Geom: UnwindSafe,
L: UnwindSafe,

Blanket Implementations

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impl<T> Actor for T where
T: Class<PxActor> + Base,

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fn get_type(&self) -> ActorType

Get the concrete type of the actor

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

Get the world bounds of this actor

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fn set_actor_flag(&mut self, flag: ActorFlag, value: bool)

Set a flag on this actor

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fn set_actor_flags(&mut self, flags: BitFlags<ActorFlag>)

Set the flags to the provided value

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fn get_actor_flags(&self) -> BitFlags<ActorFlag>

Get all actor flags

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fn set_dominance_group(&mut self, group: u8)

Set the dominance group

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fn get_dominance_group(&self) -> u8

Read the dominance group

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fn set_owner_client(&mut self, client: u8)

Set the owner client of this actor

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fn get_owner_client(&self) -> u8

Read the owner client of this actor

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fn enable_visualization(&mut self, enable: bool)

Enable visualization of this actor

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fn enable_gravity(&mut self, enable: bool)

set gravity state

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impl<T> Any for T where
T: 'static + ?Sized,

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pub fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Base for T where
T: Class<PxBase>,

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fn get_concrete_type_name(&self) -> Option<&str>

Get the name of the real type referenced by this pointer, or None if the returned string is not valid

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fn get_concrete_type(&self) -> ConcreteType

Returns an enumerated value identifying the type. This may return ConcreteType::Undefined in surprising situations, notably this does not seem to work with get_active_actors. Use get_type for actors if possible. Read more

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fn set_base_flag(&mut self, flag: BaseFlag, value: bool)

Set or unset the specified flag on this object.

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fn set_base_flags(&mut self, in_flags: BitFlags<BaseFlag>)

Set the BaseFlags of this object. Note that replaces all flags currently on the object. Use set_base_flag to set individual flags. Read more

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fn get_base_flags(&self) -> BitFlags<BaseFlag>

Read the BaseFlags of this object

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fn is_releasable(&self) -> bool

Returns true if this object can be released, i.e., it is not subordinate.

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

pub fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

pub fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> From<T> for T

const: unstable · source

pub fn from(t: T) -> T

Performs the conversion.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

pub fn into(self) -> U

Performs the conversion.

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impl<T> RigidBody for T where
T: Class<PxRigidBody> + RigidActor,

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fn set_mass(&mut self, mass: f32)

Set the mass of this body

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fn get_angular_velocity(&self) -> PxVec3

Get the angular velocity.

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fn get_linear_velocity(&self) -> PxVec3

Get the linear velocity.

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

Get the (linear, angular) velocities.

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

Set the pose of the position and orientation of the center of mass. This does not move tha body, Setting the center of mass too far away may cause instability. Read more

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fn get_c_mass_local_pose(&self) -> PxTransform

Get the pose of the center of mass.

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fn get_mass(&self) -> f32

Get the mass of the body.

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fn get_inv_mass(&self) -> f32

Get the inverse of the mass of this body.

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fn set_mass_space_inertia_tensor(&mut self, m: &PxVec3)

Sets the inertia tensor using mass space coordinates. Non-diagonal space inertia tensors must be diagonalized, only the diagonal is passed in. The tensor elements must be non-negative. Values of 0 represent infinite inertia along that axis, and are not permitted for PxArticulationLinks. Read more

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fn get_mass_space_inertia_tensor(&self) -> PxVec3

Gets the diagonal of the inertia tensor relative to the body’s mass coordinate frame. A value of 0 represents infinite inertia along that axis. Read more

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fn get_mass_space_inv_inertia_tensor(&self) -> PxVec3

Gets the diagonal of the inverse inertia tensor relative to the body’s mass coordinate frame. A value of 0 represents infinite inertia along that axis. Read more

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fn set_linear_damping(&mut self, lin_damp: f32)

Sets the linear damping. Zero represents no damping. Values clamped to [0.0 .. ].

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fn get_linear_damping(&self) -> f32

Gets the linear damping.

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fn set_angular_damping(&mut self, ang_damp: f32)

Sets the angular damping. Zero represents no damping. Values clamped to (0.0, .. ).

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fn get_angular_damping(&self) -> f32

Get the angular damping.

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fn set_linear_velocity(&mut self, lin_vel: &PxVec3, autowake: bool)

Set the linear velocity. Continuously setting this will override the effects of gravity or friction because forces effect the body via velocity. If ActorFlag::DisableSimulation is set, this does nothing, otherwise this call will wake the actor. Read more

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fn set_angular_velocity(&mut self, ang_vel: &PxVec3, autowake: bool)

Set the angular velocity. Continuously setting this will override the effects of gravity or friction because forces effect the body via velocity. If ActorFlag::DisableSimulation is set, this does nothing, otherwise this call will wake the actor. Read more

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fn set_max_angular_velocity(&mut self, max_ang_vel: f32)

Set the maximum angular velocity. Very rapid rotation can cause simulation errors, setting this value will clamp velocty before the solver is ran (so velocty may briefly exceed this value). Read more

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fn get_max_angular_velocity(&self) -> f32

Get the maximum angular velocity.

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fn set_max_linear_velocity(&mut self, max_lin_vel: f32)

Set the maximum linear velocity. Very rapid movement can cause simulation errors, setting this value will clamp velocty before the solver is ran (so velocty may briefly exceed this value). Read more

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fn get_max_linear_velocity(&self) -> f32

Get the maximum linear velocity.

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fn add_force(&mut self, force: &PxVec3, mode: ForceMode, autowake: bool)

Apply a force to the actor. This will not cause torque. ForceMode determines how this force is applied. ForceMode::Acceleration and ForceMode::VelocityChange directly effect the acceleration and velocity change accumulators. ForceMode::Force and ForceMode::Impulse are multiplied by inverse mass first. Read more

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fn add_torque(&mut self, torque: &PxVec3, mode: ForceMode, autowake: bool)

Apply a torque to the actor. ForceMode determines how this force is applied. ForceMode::Acceleration and ForceMode::VelocityChange directly effect the angular acceleration and angular velocity change accumulators. ForceMode::Force and ForceMode::Impulse are multiplied by inverse mass first. Read more

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fn clear_force(&mut self, mode: ForceMode)

Clear the accumulated acceleration or velocity change. ForceMode::Acceleration and ForceMode::Force clear the same accumulator, as do ForceMode::VelocityChange and ForceMode::Impulse. Read more

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fn clear_torque(&mut self, mode: ForceMode)

Clear the accumulated angular acceleration or angular velocity change. ForceMode::Acceleration and ForceMode::Force clear the same accumulator, as do ForceMode::VelocityChange and ForceMode::Impulse. Read more

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fn set_force_and_torque(
    &mut self,
    force: &PxVec3,
    torque: &PxVec3,
    mode: ForceMode
)

Set the force and torque accumulators.

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fn set_rigid_body_flag(&mut self, flag: RigidBodyFlag, value: bool)

Set a rigid body flag.

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fn set_rigid_body_flags(&mut self, flags: RigidBodyFlags)

Set all the rigid body flags.

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fn get_rigid_body_flags(&self) -> RigidBodyFlags

Get the rigid body flags.

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fn set_min_ccd_advance_coefficient(&mut self, advance_coefficient: f32)

Set the CCD advance coefficient, clamped to range [0.0 ..= 1.0]. Default is 0.15. Values near 1.0 ensures that some will be advanced, but objects may slowly drift through eachother. Values near 0.0 will never drift through eachother, but may “jam” ie. not advance through time during a given CCD pass. Read more

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fn get_min_ccd_advance_coefficient(&self) -> f32

Get the CCD advance coefficient.

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fn set_max_depenetration_velocity(&mut self, bias_clamp: f32)

sET the maximum allowed depenetration velocity

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fn get_max_depenetration_velocity(&self) -> f32

Get the maximum allowed depenetration velocity

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fn set_max_contact_impulse(&mut self, max_impulse: f32)

Set the max number of contact impulses this body may experience

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fn get_max_contact_impulse(&self) -> f32

Get the max number of contact impulses this body may experience

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

pub fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct physx::articulation_link::PxArticulationLink

Trait Implementations

impl<L, Geom: Shape> ArticulationLink for PxArticulationLink<L, Geom>

unsafe fn from_raw( ptr: *mut PxArticulationLink, 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 enable_collision(&mut self, enable: bool)

fn get_inbound_joint(&self) -> Option<&JointMap>

fn get_link_index(&self) -> u32

fn get_inbound_joint_dof(&self) -> u32

fn get_nb_children(&self) -> u32

fn get_children(&self) -> Vec<&Self>

impl<P, L, Geom: Shape> Class<P> for PxArticulationLink<L, Geom> where PxArticulationLink: Class<P>,

fn as_ptr(&self) -> *const P

fn as_mut_ptr(&mut self) -> *mut P

impl<L, Geom: Shape> Drop for PxArticulationLink<L, Geom>

fn drop(&mut self)

impl<L, Geom: Shape> RigidActor for PxArticulationLink<L, Geom>

type Shape = Geom

fn get_nb_constraints(&self) -> u32

fn get_constraints(&mut self) -> Vec<&mut Constraint>

fn get_global_pose(&self) -> PxTransform

fn get_global_position(&self) -> PxVec3

fn get_global_rotation(&self) -> PxQuat

fn set_global_pose(&mut self, pose: &PxTransform, autowake: bool)

fn get_nb_shapes(&self) -> u32

fn get_shapes(&self) -> Vec<&Self::Shape>

fn get_shapes_mut(&mut self) -> Vec<&mut Self::Shape>

fn set_collision_filter( &mut self, this_layers: BitFlags<CollisionLayer>, other_layers: BitFlags<CollisionLayer>, word3: u32, word4: u32)

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

fn attach_shape(&mut self, shape: &mut Self::Shape) -> bool

fn detach_shape(&mut self, shape: &mut Self::Shape)

impl<L: Send, Geom: Shape + Send> Send for PxArticulationLink<L, Geom>

impl<L: Sync, Geom: Shape + Sync> Sync for PxArticulationLink<L, Geom>

Auto Trait Implementations

impl<L, Geom> RefUnwindSafe for PxArticulationLink<L, Geom> where Geom: RefUnwindSafe, L: RefUnwindSafe,

impl<L, Geom> Unpin for PxArticulationLink<L, Geom> where Geom: Unpin, L: Unpin,

impl<L, Geom> UnwindSafe for PxArticulationLink<L, Geom> where Geom: UnwindSafe, L: UnwindSafe,

Blanket Implementations

impl<T> Actor for T where T: Class<PxActor> + Base,

fn get_type(&self) -> ActorType

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

fn set_actor_flag(&mut self, flag: ActorFlag, value: bool)

fn set_actor_flags(&mut self, flags: BitFlags<ActorFlag>)

fn get_actor_flags(&self) -> BitFlags<ActorFlag>

fn set_dominance_group(&mut self, group: u8)

fn get_dominance_group(&self) -> u8

fn set_owner_client(&mut self, client: u8)

fn get_owner_client(&self) -> u8

fn enable_visualization(&mut self, enable: bool)

fn enable_gravity(&mut self, enable: bool)

impl<T> Any for T where T: 'static + ?Sized,

pub fn type_id(&self) -> TypeId

impl<T> Base for T where T: Class<PxBase>,

fn get_concrete_type_name(&self) -> Option<&str>

fn get_concrete_type(&self) -> ConcreteType

fn set_base_flag(&mut self, flag: BaseFlag, value: bool)

fn set_base_flags(&mut self, in_flags: BitFlags<BaseFlag>)

fn get_base_flags(&self) -> BitFlags<BaseFlag>

fn is_releasable(&self) -> bool

impl<T> Borrow<T> for T where T: ?Sized,

pub fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

pub fn borrow_mut(&mut self) -> &mut T

impl<T> From<T> for T

pub fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

pub fn into(self) -> U

impl<T> RigidBody for T where T: Class<PxRigidBody> + RigidActor,

fn set_mass(&mut self, mass: f32)

fn get_angular_velocity(&self) -> PxVec3

fn get_linear_velocity(&self) -> PxVec3

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

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

fn get_c_mass_local_pose(&self) -> PxTransform

fn get_mass(&self) -> f32

fn get_inv_mass(&self) -> f32

fn set_mass_space_inertia_tensor(&mut self, m: &PxVec3)

fn get_mass_space_inertia_tensor(&self) -> PxVec3

fn get_mass_space_inv_inertia_tensor(&self) -> PxVec3

unsafe fn from_raw(
ptr: *mut PxArticulationLink,
user_data: Self::UserData
) -> Option<Owner<Self>>

impl<P, L, Geom: Shape> Class<P> for PxArticulationLink<L, Geom> where
PxArticulationLink: Class<P>,

fn set_collision_filter(
&mut self,
this_layers: BitFlags<CollisionLayer>,
other_layers: BitFlags<CollisionLayer>,
word3: u32,
word4: u32
)

impl<L, Geom> RefUnwindSafe for PxArticulationLink<L, Geom> where
Geom: RefUnwindSafe,
L: RefUnwindSafe,

impl<L, Geom> Unpin for PxArticulationLink<L, Geom> where
Geom: Unpin,
L: Unpin,

impl<L, Geom> UnwindSafe for PxArticulationLink<L, Geom> where
Geom: UnwindSafe,
L: UnwindSafe,

impl<T> Actor for T where
T: Class<PxActor> + Base,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Base for T where
T: Class<PxBase>,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T, U> Into<U> for T where
U: From<T>,

impl<T> RigidBody for T where
T: Class<PxRigidBody> + RigidActor,

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

fn set_force_and_torque(
&mut self,
force: &PxVec3,
torque: &PxVec3,
mode: ForceMode
)

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,