Struct physx::articulation_reduced_coordinate::PxArticulationReducedCoordinate

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

A new type wrapper for PxArticulationReducedCoordinate.

Parametrized by its user data type, and the type of its ArticulationLinks.

Trait Implementations

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

type ArticulationLink = L

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

Safety

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, flags: ArticulationFlags)

Set the articulation flags

fn get_articulation_flags(&self) -> ArticulationFlags

Get the articulation flags

fn get_nb_links(&self) -> u32

Get the total number of links on this articulation

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

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

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

See physx_sys::PxArticulationReducedCoordinate_setRootGlobalPose_mut, prefer using ArticulationCache::set_root_link_data

fn get_root_global_pose(&self) -> PxTransform

See physx_sys::PxArticulationReducedCoordinate_getRootGlobalPose, prefer using [ArticulationCache::get_root_link_data]

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

Create a new cache for this articulation

fn get_cache_data_size(&self) -> u32

Get the memory size of this cache

fn apply_cache( &mut self, cache: &mut ArticulationCache, flags: ArticulationCacheFlags, autowake: bool )

Apply the cache to the articulation

fn copy_internal_state_to_cache( &self, cache: &mut ArticulationCache, flags: ArticulationCacheFlags )

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: CollisionLayers, other_layer: CollisionLayers )

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

fn set_query_filter(&mut self, this_layer: CollisionLayers)

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

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.

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

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

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

Get a vec of all the links

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

Get a mutable vec of all the links

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

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.

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.

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

fn drop(&mut self)

Executes the destructor for this type.

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

impl<U: Sync, Link: ArticulationLink + Send> Sync for PxArticulationReducedCoordinate<U, Link>