Struct physx::articulation::PxArticulation

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#[repr(transparent)]
pub struct PxArticulation<U, Link: ArticulationLink> { /* private fields */ }

Expand description

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

Trait Implementations

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impl<U, Link: ArticulationLink> Articulation for PxArticulation<U, Link>

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

Safety Read more

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

Get a reference to the user data.

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

Get a mutable reference to the user data.

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fn apply_impulse(
    &mut self,
    link: &mut Self::ArticulationLink,
    cache: &PxArticulationDriveCache,
    linear_impulse: &PxVec3,
    angular_impulse: &PxVec3
)

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fn compute_impulse_response(
    &self,
    link: &mut Self::ArticulationLink,
    cache: &PxArticulationDriveCache,
    linear_impulse: &PxVec3,
    angular_impulse: &PxVec3
) -> ImpulseResponse

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fn create_drive_cache(
 &self,
 compliance: f32,
 drive_iterations: u32
) -> Option<&mut PxArticulationDriveCache>

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fn update_drive_cache(
    &self,
    cache: &mut PxArticulationDriveCache,
    compliance: f32,
    iterations: u32
)

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impl<U, Link: ArticulationLink> ArticulationBase for PxArticulation<U, Link>

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. Read more

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fn get_solver_iteration_counts(&self) -> (u32, u32)

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

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fn is_sleeping(&self) -> bool

Check if the articulation is sleeping

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fn set_sleep_threshold(&mut self, threshold: f32)

Set the inactivity threshold for sleeping this articulation

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fn get_sleep_threshold(&self) -> f32

Read back the inactivity threshold

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fn set_stabilization_threshold(&mut self, threshold: f32)

Set the stabilization threshold for this articulation

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fn get_stabilization_threshold(&self) -> f32

Get the stabilization threshold for this articulation

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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. Read more

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fn get_wake_counter(&self) -> f32

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

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fn wake_up(&mut self)

Wake up the articulation

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fn put_to_sleep(&mut self)

Put the articulation to sleep immediately

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fn get_nb_links(&self) -> usize

Get the total number of links on this articulation

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

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

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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

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

Get a vec of all the links

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

Get a mutable vec of all the links

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

Get the world bounds of this articulation

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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

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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

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

Release an articulation joint, freeing it. Read more

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impl<S, U, Link: ArticulationLink> Class<S> for PxArticulation<U, Link> where
PxArticulation: Class<S>,

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fn as_ptr(&self) -> *const S

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 S

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<U, Link: ArticulationLink> Drop for PxArticulation<U, Link>

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fn drop(&mut self)

Executes the destructor for this type. Read more

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impl<U: Send, Link: ArticulationLink + Send> Send for PxArticulation<U, Link>

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impl<U: Sync, Link: ArticulationLink + Sync> Sync for PxArticulation<U, Link>

Auto Trait Implementations

impl<U, Link> RefUnwindSafe for PxArticulation<U, Link> where
Link: RefUnwindSafe,
U: RefUnwindSafe,

impl<U, Link> Unpin for PxArticulation<U, Link> where
Link: Unpin,
U: Unpin,

impl<U, Link> UnwindSafe for PxArticulation<U, Link> where
Link: UnwindSafe,
U: 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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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

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

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

fn from(t: T) -> T

Returns the argument unchanged.

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

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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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

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

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

Performs the conversion.

Struct physx::articulation::PxArticulation

Trait Implementations

impl<U, Link: ArticulationLink> Articulation for PxArticulation<U, Link>

unsafe fn from_raw( ptr: *mut PxArticulation, 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 apply_impulse( &mut self, link: &mut Self::ArticulationLink, cache: &PxArticulationDriveCache, linear_impulse: &PxVec3, angular_impulse: &PxVec3)

fn compute_impulse_response( &self, link: &mut Self::ArticulationLink, cache: &PxArticulationDriveCache, linear_impulse: &PxVec3, angular_impulse: &PxVec3) -> ImpulseResponse

fn create_drive_cache( &self, compliance: f32, drive_iterations: u32) -> Option<&mut PxArticulationDriveCache>

fn update_drive_cache( &self, cache: &mut PxArticulationDriveCache, compliance: f32, iterations: u32)

fn get_external_drive_iterations(&self) -> u32

fn get_internal_drive_iterations(&self) -> u32

fn get_max_projection_iterations(&self) -> u32

fn get_separation_tolerance(&self) -> f32

fn release_drive_cache(&self, cache: &mut PxArticulationDriveCache)

fn set_external_drive_iterations(&mut self, iterations: u32)

fn set_internal_drive_iterations(&mut self, iterations: u32)

fn set_max_projection_iterations(&mut self, iterations: u32)

fn set_separation_tolerance(&mut self, tolerance: f32)

impl<U, Link: ArticulationLink> ArticulationBase for PxArticulation<U, Link>

type ArticulationLink = Link

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)

impl<S, U, Link: ArticulationLink> Class<S> for PxArticulation<U, Link> where PxArticulation: Class<S>,

fn as_ptr(&self) -> *const S

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

impl<U, Link: ArticulationLink> Drop for PxArticulation<U, Link>

fn drop(&mut self)

impl<U: Send, Link: ArticulationLink + Send> Send for PxArticulation<U, Link>

impl<U: Sync, Link: ArticulationLink + Sync> Sync for PxArticulation<U, Link>

Auto Trait Implementations

impl<U, Link> RefUnwindSafe for PxArticulation<U, Link> where Link: RefUnwindSafe, U: RefUnwindSafe,

impl<U, Link> Unpin for PxArticulation<U, Link> where Link: Unpin, U: Unpin,

impl<U, Link> UnwindSafe for PxArticulation<U, Link> where Link: UnwindSafe, U: 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,

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,

fn borrow(&self) -> &T

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

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

impl<T> From<T> for T

fn from(t: T) -> T

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

fn apply_impulse(
&mut self,
link: &mut Self::ArticulationLink,
cache: &PxArticulationDriveCache,
linear_impulse: &PxVec3,
angular_impulse: &PxVec3
)

fn compute_impulse_response(
&self,
link: &mut Self::ArticulationLink,
cache: &PxArticulationDriveCache,
linear_impulse: &PxVec3,
angular_impulse: &PxVec3
) -> ImpulseResponse

fn create_drive_cache(
&self,
compliance: f32,
drive_iterations: u32
) -> Option<&mut PxArticulationDriveCache>

fn update_drive_cache(
&self,
cache: &mut PxArticulationDriveCache,
compliance: f32,
iterations: u32
)

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

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
)

impl<S, U, Link: ArticulationLink> Class<S> for PxArticulation<U, Link> where
PxArticulation: Class<S>,

impl<U, Link> RefUnwindSafe for PxArticulation<U, Link> where
Link: RefUnwindSafe,
U: RefUnwindSafe,

impl<U, Link> Unpin for PxArticulation<U, Link> where
Link: Unpin,
U: Unpin,

impl<U, Link> UnwindSafe for PxArticulation<U, Link> where
Link: UnwindSafe,
U: 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, U> TryFrom<U> for T where
U: Into<T>,

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