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physx::Dy::FeatherstoneArticulation Member List

This is the complete list of members for physx::Dy::FeatherstoneArticulation, including all inherited members.

addBody() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
allocatePathToRootElements(const PxU32 totalPathToRootElements) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
allocateScratchSpatialData(PxcScratchAllocator *allocator, const PxU32 linkCount, ScratchData &scratchData, bool fallBackToHeap=false) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
applyCache(PxArticulationCache &cache, const PxArticulationCacheFlags flag, bool &shouldWake) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
applyCacheToDest(ArticulationData &data, PxArticulationCache &cache, PxReal *jVelocities, PxReal *jAcceleration, PxReal *jPosition, PxReal *jointForce, const PxArticulationCacheFlags flag, bool &shouldWake) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
applyImpulses(Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
assignSensors(const PxU32 nbSensors, Dy::ArticulationSensor **sensors, PxSpatialForce *sensorForces) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
assignTendons(const PxU32, Dy::ArticulationSpatialTendon **) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
assignTendons(const PxU32, Dy::ArticulationFixedTendon **) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
calculateFixedTendonVelocityAndPositionRecursive(FixedTendonSolveData &solveData, const Cm::SpatialVectorF &parentV, const Cm::SpatialVectorF &parentDeltaV, const PxU32 tendonJointID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
calculateHFixBase(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
calculateHFloatingBase(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
calculateMassMatrixColInv(ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
clearGPUDirtyFlags() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
computeAndEnforceJointPositions(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeArticulatedResponseMatrix(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeArticulatedSpatialInertia(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeArticulatedSpatialInertiaAndZ(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeArticulatedSpatialInertiaAndZ_NonSeparated(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeArticulatedSpatialZ(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeC(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeCompositeSpatialInertiaAndZAForceInv(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeDofs() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeGeneralizedForceInv(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeIs(ArticulationJointCoreData &jointDatum, ArticulationJointTargetData &jointTarget, const PxU32 linkID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeJointAccelerationW(ArticulationJointCoreData &jointDatum, const Cm::SpatialVectorF &pMotionAcceleration, PxReal *jointAcceleration, const Cm::SpatialVectorF *IsW, const PxU32 linkID, const PxReal *qstZIc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeJointSpaceJacobians(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeJointTransmittedFrictionForce(ArticulationData &data, ScratchData &scratchData, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *DeltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeLinkAcceleration(ArticulationData &data, ScratchData &scratchData, bool doIC) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeLinkAccelerationInv(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeLinkInternalAcceleration(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeLinkStates(const PxF32 dt, const PxReal invLengthScale, const PxVec3 &gravity, const bool fixBase, const PxU32 linkCount, const PxTransform *accumulatedPoses, const Cm::SpatialVector *externalAccels, const PxVec3 *rws, const Cm::UnAlignedSpatialVector *worldMotionMatrices, const Dy::ArticulationJointCoreData *jointCoreData, Dy::ArticulationLinkData *linkData, Dy::ArticulationLink *links, Cm::SpatialVectorF *motionAccelerations, Cm::SpatialVectorF *motionVelocities, Cm::SpatialVectorF *spatialZAForces, Cm::SpatialVectorF *spatialZAInternal, Cm::SpatialVectorF *coriolisVectors, PxMat33 *worldIsolatedSpatialArticulatedInertias, PxF32 *linkMasses, Dy::SpatialMatrix *worldSpatialArticulatedInertias, const PxU32 jointDofCount, PxReal *jointVelocities, Cm::SpatialVectorF &rootPreMotionVelocity, PxVec3 &com, PxF32 &invSumMass)physx::Dy::FeatherstoneArticulationstatic
computeLinkVelocities(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeLinkVelocities(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computePropagateSpatialInertia(const PxU8 jointType, ArticulationJointCoreData &jointDatum, const SpatialMatrix &articulatedInertia, const Cm::SpatialVectorF *linkIs, InvStIs &invStIs, Cm::SpatialVectorF *isInvD, const Cm::UnAlignedSpatialVector *motionMatrix) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
computePropagateSpatialInertia_ZA_ZIc(const PxU8 jointType, const ArticulationJointTargetData &jointTarget, const ArticulationJointCoreData &jointDatum, const SpatialMatrix &articulatedInertia, const Cm::SpatialVectorF *linkIs, InvStIs &invStIs, Cm::SpatialVectorF *isInvD, const Cm::UnAlignedSpatialVector *motionMatrix, const PxReal *jF, const Cm::SpatialVectorF &Z, const Cm::SpatialVectorF &ZIntIc, Cm::SpatialVectorF &ZA, Cm::SpatialVectorF &ZInt, PxReal *qstZ, PxReal *qstZIntIc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
computePropagateSpatialInertia_ZA_ZIc_NonSeparated(const PxU8 jointType, const ArticulationJointTargetData &jointTarget, const ArticulationJointCoreData &jointDatum, const SpatialMatrix &articulatedInertia, const Cm::SpatialVectorF *linkIs, InvStIs &invStIs, Cm::SpatialVectorF *isInvD, const Cm::UnAlignedSpatialVector *motionMatrix, const PxReal *jF, const Cm::SpatialVectorF &Z, Cm::SpatialVectorF &ZA, PxReal *qstZIc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
computeRelativeGeneralizedForceInv(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeRelativeTransformC2B(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeRelativeTransformC2P(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeSpatialInertia(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeUnconstrainedVelocities(const ArticulationSolverDesc &desc, PxReal dt, PxU32 &acCount, const PxVec3 &gravity, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV, const PxReal invLengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
computeUnconstrainedVelocitiesInternal(const PxVec3 &gravity, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *DeltaV, const PxReal invLengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeUnconstrainedVelocitiesTGS(const ArticulationSolverDesc &desc, PxReal dt, const PxVec3 &gravity, PxU64 contextID, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV, const PxReal invLengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
computeZ(const ArticulationData &data, const PxVec3 &gravity, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeZAForceInv(ArticulationData &data, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
computeZD(const ArticulationData &data, const PxVec3 &gravity, ScratchData &scratchData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
concludeInternalConstraints(bool isTGS) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
constraintPrep(ArticulationLoopConstraint *lConstraints, const PxU32 nbJoints, Cm::SpatialVectorF *Z, PxSolverConstraintPrepDesc &prepDesc, PxSolverBody &sBody, PxSolverBodyData &sBodyData, PxSolverConstraintDesc *desc, PxConstraintAllocator &allocator) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
constructSkewSymmetricMatrix(const PxVec3 r) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinlinestatic
copyInternalStateToCache(PxArticulationCache &cache, const PxArticulationCacheFlags flag) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
copyJointData(ArticulationData &data, PxReal *toJointData, const PxReal *fromJointData) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
deltaMotionToMotionVelocity(const ArticulationSolverDesc &desc, PxReal invDt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
enforcePrismaticLimits(PxReal &jPosition, ArticulationJointCore *joint) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
FeatherstoneArticulation(void *) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationexplicit
fillIndexType(const PxU32 linkId, PxU8 &indexType) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getArticulationData() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getArticulationData() const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getBodyCount() const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getCfm(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getCoefficientMatrix(const PxReal dt, const PxU32 linkID, const PxContactJoint *contactJoints, const PxU32 nbContacts, PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getCoefficientMatrixWithLoopJoints(ArticulationLoopConstraint *lConstraints, const PxU32 nbJoints, PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getCore() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getCoriolisAndCentrifugalForce(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getCurrentTransform(PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDataSizes(PxU32 linkCount, PxU32 &solverDataSize, PxU32 &totalSize, PxU32 &scratchSize) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDeltaQ(PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDeltaV(Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDeltaV(const bool fixBase, const PxU32 linkID, const ArticulationData &data, Cm::SpatialVectorF *Z) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getDeltaVWithDeltaJV(const bool fixBase, const PxU32 linkID, const ArticulationData &data, Cm::SpatialVectorF *Z, PxReal *jointVelocities) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getDenseJacobian(PxArticulationCache &cache, PxU32 &nRows, PxU32 &nCols) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDof(const PxU32 linkID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getDofs() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getGeneralizedExternalForce(PxArticulationCache &) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getGeneralizedGravityForce(const PxVec3 &gravity, PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getGeneralizedMassMatrix(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getGeneralizedMassMatrixCRB(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseResponse(PxU32 linkID, Cm::SpatialVectorF *Z, const Cm::SpatialVector &impulse, Cm::SpatialVector &deltaV) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseResponse(PxU32 linkID, Cm::SpatialVectorV *, const Cm::SpatialVectorV &impulse, Cm::SpatialVectorV &deltaV) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseResponseInv(const bool fixBase, const PxU32 linkID, Cm::SpatialVectorF *Z, const Cm::SpatialVector &impulse, PxReal *jointVelocites) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseResponseSlow(Dy::ArticulationLink *links, ArticulationData &data, PxU32 linkID0_, const Cm::SpatialVector &impulse0, Cm::SpatialVector &deltaV0, PxU32 linkID1_, const Cm::SpatialVector &impulse1, Cm::SpatialVector &deltaV1, Cm::SpatialVectorF *Z) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getImpulseResponseSlowInv(Dy::ArticulationLink *links, const ArticulationData &data, PxU32 linkID0_, const Cm::SpatialVector &impulse0, Cm::SpatialVector &deltaV0, PxU32 linkID1_, const Cm::SpatialVector &impulse1, Cm::SpatialVector &deltaV1, PxReal *jointVelocities, Cm::SpatialVectorF *Z) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseResponseW(const PxU32 linkID, const ArticulationData &data, const Cm::SpatialVectorF &impulse) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getImpulseResponseWithJ(const PxU32 linkID, const bool fixBase, const ArticulationData &data, Cm::SpatialVectorF *Z, const Cm::SpatialVectorF &impulse, PxReal *jointVelocities) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getImpulseSelfResponse(PxU32 linkID0, PxU32 linkID1, Cm::SpatialVectorF *Z, const Cm::SpatialVector &impulse0, const Cm::SpatialVector &impulse1, Cm::SpatialVector &deltaV0, Cm::SpatialVector &deltaV1) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getImpulseSelfResponse(ArticulationLink *links, Cm::SpatialVectorF *Z, ArticulationData &data, PxU32 linkID0, const Cm::SpatialVectorV &impulse0, Cm::SpatialVectorV &deltaV0, PxU32 linkID1, const Cm::SpatialVectorV &impulse1, Cm::SpatialVectorV &deltaV1) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
getImpulseSelfResponseInv(const bool fixBase, PxU32 linkID0, PxU32 linkID1, Cm::SpatialVectorF *Z, const Cm::SpatialVector &impulse0, const Cm::SpatialVector &impulse1, Cm::SpatialVector &deltaV0, Cm::SpatialVector &deltaV1, PxReal *jointVelocities) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getIterationCounts() const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getJointAcceleration(const PxVec3 &gravity, PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getJointForce(PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getKMatrix(ArticulationJointCore *loopJoint, const PxU32 parentIndex, const PxU32 childIndex, PxArticulationCache &cache) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getLambda(ArticulationLoopConstraint *lConstraints, const PxU32 nbJoints, PxArticulationCache &cache, PxArticulationCache &rollBackCache, const PxReal *jointTorque, const PxVec3 &gravity, const PxU32 maxIter, const PxReal invLengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getLinkMaxPenBias(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getLinkMotionVector(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getLinkScalarVelocity(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getLinkVelocity(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getMaxDepth() const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getMotionAcceleration(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getMotionVelocity(const PxU32 linkID) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
getSolverDesc(ArticulationSolverDesc &d) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getSolverDesc() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getUserData() const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
getZ(const PxU32 linkID, const ArticulationData &data, Cm::SpatialVectorF *Z, const Cm::SpatialVectorF &impulse) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
initCompositeSpatialInertia(ArticulationData &data, Dy::SpatialMatrix *compositeSpatialInertia) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
initializeCommonData() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
initLinks(ArticulationData &data, const PxVec3 &gravity, ScratchData &scratchData, Cm::SpatialVectorF *tZ, Cm::SpatialVectorF *tDeltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
initPathToRoot() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
inverseDynamic(ArticulationData &data, const PxVec3 &gravity, ScratchData &scratchData, bool computeCoriolis) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
inverseDynamicFloatingBase(ArticulationData &data, const PxVec3 &gravity, ScratchData &scratchData, bool computeCoriolis) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
jcalc(ArticulationData &data, bool forceUpdate=false) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
jcalcLoopJointSubspace(ArticulationJointCore *joint, ArticulationJointCoreData &jointDatum, SpatialSubspaceMatrix &T, const Cm::UnAlignedSpatialVector *jointAxis) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mAcceleration (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mArticulationData (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mArticulationIndex (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
maxSolverFrictionProgress (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
maxSolverNormalProgress (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mContext (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mGPUDirtyFlags (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mMaxDepth (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mSolverDesc (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mStatic1DConstraints (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mStaticContactConstraints (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mUpdateSolverData (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
mUserData (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
numTotalConstraints (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
packJointData(const PxReal *maximum, PxReal *reduced) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
prepareStaticConstraints(const PxReal dt, const PxReal invDt, PxsContactManagerOutputIterator &outputs, Dy::ThreadContext &threadContext, PxReal correlationDist, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal ccdMaxSeparation, PxSolverBodyData *solverBodyData, PxsConstraintBlockManager &blockManager, Dy::ConstraintWriteback *constraintWritebackPool) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
prepareStaticConstraintsTGS(const PxReal stepDt, const PxReal totalDt, const PxReal invStepDt, const PxReal invTotalDt, PxsContactManagerOutputIterator &outputs, Dy::ThreadContext &threadContext, PxReal correlationDist, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxTGSSolverBodyData *solverBodyData, PxTGSSolverBodyTxInertia *txInertia, PxsConstraintBlockManager &blockManager, Dy::ConstraintWriteback *constraintWritebackPool, const PxReal biasCoefficient, const PxReal lengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
propagateAccelerationW(const PxVec3 &c2p, const InvStIs &invStIs, const Cm::UnAlignedSpatialVector *motionMatrix, PxReal *jointVelocity, const Cm::SpatialVectorF &pAcceleration, const PxU32 dofCount, const Cm::SpatialVectorF *IsW, PxReal *qstZIc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateAccelerationW(const PxVec3 &c2p, const InvStIs &invStIs, PxReal *jointVelocity, const Cm::SpatialVectorF &pAcceleration, const PxU32 dofCount, const Cm::SpatialVectorF *IsW) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateAccelerationW(const PxVec3 &c2p, const InvStIs &invStIs, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::SpatialVectorF &pAcceleration, const PxU32 dofCount, const Cm::SpatialVectorF *IsW, PxReal *qstZIc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateAccelerationW(const PxVec3 &c2p, const InvStIs &invStIs, const Cm::UnAlignedSpatialVector *motionMatrix, PxReal *jointVelocity, const Cm::SpatialVectorF &pAcceleration, Cm::SpatialVectorF &Z, const PxU32 dofCount, const Cm::SpatialVectorF *IsW) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateImpulseW(const Cm::SpatialVectorF *isInvD, const PxVec3 &childToParent, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::SpatialVectorF &Z, const PxU32 dofCount) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateImpulseW(const Cm::SpatialVectorF *isInvD, const PxVec3 &childToParent, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::SpatialVectorF &Z, const PxU32 dofCount, PxReal *qstZ) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateLinksDown(ArticulationData &data, PxReal *jointVelocities, PxReal *jointPositions, Cm::SpatialVectorF *motionVelocities) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
propagateTransform(const PxU32 linkID, ArticulationLink *links, ArticulationJointCoreData &jointDatum, Cm::SpatialVectorF *motionVelocities, const PxReal dt, const PxTransform &pBody2World, const PxTransform &currentTransform, PxReal *jointVelocity, PxReal *jointPosition, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::UnAlignedSpatialVector *worldMotionMatrix) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
propagateVelocityTestImpulseW(const PxVec3 &c2p, const Dy::SpatialMatrix &spatialInertia, const InvStIs &invStIs, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::SpatialVectorF &Z, const Cm::SpatialVectorF &hDeltaV, const PxU32 dofCount) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
propagateVelocityW(const PxVec3 &c2p, const Dy::SpatialMatrix &spatialInertia, const InvStIs &invStIs, const Cm::UnAlignedSpatialVector *motionMatrix, const Cm::SpatialVectorF &Z, PxReal *jointVelocity, const Cm::SpatialVectorF &hDeltaV, const PxU32 dofCount) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
pxcFsApplyImpulse(PxU32 linkID, aos::Vec3V linear, aos::Vec3V angular, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
pxcFsApplyImpulses(PxU32 linkID, const aos::Vec3V &linear, const aos::Vec3V &angular, PxU32 linkID2, const aos::Vec3V &linear2, const aos::Vec3V &angular2, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *deltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
pxcFsApplyImpulses(Cm::SpatialVectorF *Z) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
pxcFsGetVelocities(PxU32 linkID, PxU32 linkID1, Cm::SpatialVectorV &v0, Cm::SpatialVectorV &v1) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
pxcFsGetVelocity(PxU32 linkID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
pxcFsGetVelocityTGS(PxU32 linkID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
raiseGPUDirtyFlag(ArticulationDirtyFlag::Enum flag) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
recomputeAcceleration(const PxU32 linkID, const PxReal dt) const (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
recomputeAccelerations(const PxReal dt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
recordDeltaMotion(const ArticulationSolverDesc &desc, const PxReal dt, Cm::SpatialVectorF *deltaV, const PxReal totalInvDt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
removeBody() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
resize(const PxU32 linkCount) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
saveVelocity(const ArticulationSolverDesc &d, Cm::SpatialVectorF *deltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
saveVelocityTGS(const ArticulationSolverDesc &d, PxReal invDtF32) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
setDyContext(Dy::Context *context) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
setGpuDirtyFlag(ArticulationDirtyFlag::Enum flag) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
setMaxDepth(const PxU32 depth) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
setRootAngularVelocity(const PxVec3 &velocity) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setRootLinearVelocity(const PxVec3 &velocity) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupInternalConstraints(ArticulationLink *links, const PxU32 linkCount, const bool fixBase, ArticulationData &data, Cm::SpatialVectorF *Z, PxReal stepDt, PxReal dt, PxReal invDt, PxReal erp, bool isTGSSolver) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupInternalConstraintsRecursive(ArticulationLink *links, const PxU32 linkCount, const bool fixBase, ArticulationData &data, Cm::SpatialVectorF *Z, const PxReal stepDt, const PxReal dt, const PxReal invDt, const PxReal erp, const bool isTGSSolver, const PxU32 linkID, const PxReal maxForceScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupInternalFixedTendonConstraintsRecursive(ArticulationLink *links, ArticulationTendonJoint *tendonJoints, const bool fixBase, ArticulationData &data, Cm::SpatialVectorF *Z, const PxReal stepDt, const bool isTGSSolver, const PxU32 tendonJointID, const PxReal stiffness, const PxReal damping, const PxReal limitStiffness, const PxU32 startLink, const PxVec3 &startAxis, const PxVec3 &startRaXn)physx::Dy::FeatherstoneArticulation
setupInternalSpatialTendonConstraintsRecursive(ArticulationLink *links, ArticulationAttachment *attachments, const PxU32 attachmentCount, const PxVec3 &parentAttachmentPoint, const bool fixBase, ArticulationData &data, Cm::SpatialVectorF *Z, const PxReal stepDt, const bool isTGSSolver, const PxU32 attachmentID, const PxReal stiffness, const PxReal damping, const PxReal limitStiffness, const PxReal err, const PxU32 startLink, const PxVec3 &startAxis, const PxVec3 &startRaXn) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupLinks(PxU32 nbLinks, Dy::ArticulationLink *links) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupSolverConstraints(ArticulationLink *links, const PxU32 linkCount, const bool fixBase, ArticulationData &data, Cm::SpatialVectorF *Z, PxU32 &acCount) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
setupSolverConstraintsTGS(const ArticulationSolverDesc &articDesc, PxReal dt, PxReal invDt, PxReal totalDt, const PxReal biasCoefficient, PxU32 &acCount, Cm::SpatialVectorF *Z) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
solveFixedTendonConstraintsRecursive(FixedTendonSolveData &solveData, const PxU32 tendonJointID) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
solveInternalConstraints(const PxReal dt, const PxReal invDt, Cm::SpatialVectorF *impulses, Cm::SpatialVectorF *DeltaV, bool velocityIteration, bool isTGS, const PxReal elapsedTime, const PxReal biasCoefficient) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
solveInternalFixedTendonConstraints(bool isTGS) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
solveInternalJointConstraintRecursive(InternalConstraintSolverData &data, const PxU32 linkID, const Cm::SpatialVectorF &parentDeltaV) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
solveInternalJointConstraints(const PxReal dt, const PxReal invDt, Cm::SpatialVectorF *impulses, Cm::SpatialVectorF *DeltaV, bool velocityIteration, bool isTGS, const PxReal elapsedTime, const PxReal biasCoefficient) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
solveInternalSpatialTendonConstraints(bool isTGS)physx::Dy::FeatherstoneArticulation
solverProgress (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
storeStaticConstraint(const PxSolverConstraintDesc &desc) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
teleportLinks(ArticulationData &data) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
teleportRootLink() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
transformInertia(const SpatialTransform &sTod, SpatialMatrix &inertia) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
translateInertia(const PxMat33 &offset, SpatialMatrix &inertia) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
translateInertia(const PxMat33 &inertia, const PxReal mass, const PxVec3 &t) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
translateSpatialVector(const PxVec3 &offset, const Cm::SpatialVectorF &vec) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinlinestatic
translateSpatialVector(const PxVec3 &offset, const Cm::UnAlignedSpatialVector &vec) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinlinestatic
unpackJointData(const PxReal *reduced, PxReal *maximum) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
updateArticulation(ScratchData &scratchData, const PxVec3 &gravity, Cm::SpatialVectorF *Z, Cm::SpatialVectorF *DeltaV, const PxReal invLengthScale) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
updateBodies(const ArticulationSolverDesc &desc, Cm::SpatialVectorF *tempDeltaV, PxReal dt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
updateBodies(FeatherstoneArticulation *articulation, Cm::SpatialVectorF *tempDeltaV, PxReal dt, bool integrateJointPosition) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
updateBodiesTGS(const ArticulationSolverDesc &desc, Cm::SpatialVectorF *tempDeltaV, PxReal dt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
updateJointProperties(PxReal *jointNewVelocities, PxReal *jointVelocities, PxReal *jointAccelerations) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
updateRootBody(const Cm::SpatialVectorF &motionVelocity, const PxTransform &preTransform, ArticulationData &data, const PxReal dt) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationstatic
updateSolverData() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
updateSpatialTendonConstraintsRecursive(ArticulationAttachment *attachments, ArticulationData &data, const PxU32 attachmentID, const PxReal accumErr, const PxVec3 &parentAttachmentPoint) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
willStoreStaticConstraint() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulationinline
writebackInternalConstraints(bool isTGS) (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation
~FeatherstoneArticulation() (defined in physx::Dy::FeatherstoneArticulation)physx::Dy::FeatherstoneArticulation