Trait physx::articulation_reduced_coordinate::ArticulationReducedCoordinate

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pub trait ArticulationReducedCoordinate: Class<PxArticulationReducedCoordinate> + UserData {
    type ArticulationLink: ArticulationLink;

Show 35 methods    // Provided methods
    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, flags: ArticulationFlags) { ... }
    fn get_articulation_flags(&self) -> ArticulationFlags { ... }
    fn get_nb_links(&self) -> u32 { ... }
    fn root_link(&self) -> Option<&Self::ArticulationLink> { ... }
    fn set_root_global_pose(&mut self, pose: &PxTransform) { ... }
    fn get_root_global_pose(&self) -> PxTransform { ... }
    fn create_cache(&self) -> Option<ArticulationCache> { ... }
    fn get_cache_data_size(&self) -> u32 { ... }
    fn apply_cache(
        &mut self,
        cache: &mut ArticulationCache,
        flags: ArticulationCacheFlags,
        autowake: bool
    ) { ... }
    fn copy_internal_state_to_cache(
        &self,
        cache: &mut ArticulationCache,
        flags: ArticulationCacheFlags
    ) { ... }
    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: CollisionLayers,
        other_layer: CollisionLayers
    ) { ... }
    fn set_query_filter(&mut self, this_layer: CollisionLayers) { ... }
    fn set_solver_iteration_counts(
        &mut self,
        min_position_iters: u32,
        min_velocity_iters: u32
    ) { ... }
    fn get_solver_iteration_counts(&self) -> (u32, u32) { ... }
    fn get_links(&self) -> Vec<&Self::ArticulationLink> { ... }
    fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink> { ... }
}

Required Associated Types§

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type ArticulationLink: ArticulationLink

Provided Methods§

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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.

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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 common_init(&mut self)

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fn get_dofs(&self) -> usize

Get the number of dofs for the body

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

Set an articulation flag

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fn set_articulation_flags(&mut self, flags: ArticulationFlags)

Set the articulation flags

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fn get_articulation_flags(&self) -> ArticulationFlags

Get the articulation flags

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fn get_nb_links(&self) -> u32

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 set_root_global_pose(&mut self, pose: &PxTransform)

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

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fn get_root_global_pose(&self) -> PxTransform

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

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

Create a new cache for this articulation

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fn get_cache_data_size(&self) -> u32

Get the memory size of this cache

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

Apply the cache to the articulation

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

Copy from the articulation to the cache based on the flags

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

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

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

Compute the coriolis and centrifugal forces acting upon the multibody

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

Compute joint force changes caused by external forces

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

Compute joint acceleration caused by current joint forces

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

Compute joint force caused by changes in joint acceleration

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

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

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

Compute the coefficient matrix and store into cache

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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

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

Compute the generalized mass matrix and store into the cache

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

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

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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.

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fn get_center_of_mass(&self) -> PxVec3

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

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

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

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fn set_collision_filter( &mut self, this_layer: CollisionLayers, other_layer: CollisionLayers )

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

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fn set_query_filter(&mut self, this_layer: CollisionLayers)

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

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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.

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