Data structure used to read and write internal articulation data. More...

#include <PxArticulationReducedCoordinate.h>

Collaboration diagram for physx::PxArticulationCache:

Public Member Functions
PX_PHYSX_CORE_API void	release ()
	Releases an articulation cache.

Public Attributes
PxSpatialForce *	externalForces
	External forces acting on the articulation links for inverse dynamics computation.

PxReal *	denseJacobian
	Dense Jacobian data.

PxReal *	massMatrix
	The generalized mass matrix that maps joint accelerations to joint forces.

PxReal *	jointVelocity
	The articulation joint DOF velocities.

PxReal *	jointAcceleration
	The articulation joint DOF accelerations.

PxReal *	jointPosition
	The articulation joint DOF positions.

PxReal *	jointForce
	The articulation joint DOF forces.

PxReal *	jointSolverForces
	Solver constraint joint DOF forces.

PxSpatialVelocity *	linkVelocity
	Link spatial velocity.

PxSpatialVelocity *	linkAcceleration
	Link classical acceleration.

PxArticulationRootLinkData *	rootLinkData
	Root link transform, velocities, and accelerations.

PxSpatialForce *	sensorForces
	Link sensor spatial forces.

PxReal *	coefficientMatrix
	Constraint coefficient matrix.

PxReal *	lambda
	Constraint lambda values (impulses applied by the respective constraints).

void *	scratchMemory
	The scratch memory is used for internal calculations.

void *	scratchAllocator
	The scratch allocator is used for internal calculations.

PxU32	version
	The cache version used internally to check compatibility with the articulation, i.e. detect if the articulation configuration changed after the cache was created.

Detailed Description

Data structure used to read and write internal articulation data.

See also: PxArticulationCacheFlag, PxArticulationReducedCoordinate::createCache, PxArticulationReducedCoordinate::applyCache, PxArticulationReducedCoordinate::copyInternalStateToCache

Member Function Documentation

◆ release()

void PxArticulationCache::release ( )

Releases an articulation cache.

See also: PxArticulationReducedCoordinate::createCache, PxArticulationReducedCoordinate::applyCache, PxArticulationReducedCoordinate::copyInternalStateToCache

Member Data Documentation

◆ coefficientMatrix

PxReal* physx::PxArticulationCache::coefficientMatrix

Constraint coefficient matrix.

N = getCoefficentMatrixSize().
The user needs to allocate memory and set this member to the allocated memory.

See also: PxArticulationReducedCoordinate::computeCoefficientMatrix

◆ denseJacobian

PxReal* physx::PxArticulationCache::denseJacobian

Dense Jacobian data.

N = nbRows * nbCols = (6 * getNbLinks()) * (6 + getDofs()) -> size includes possible floating-base DOFs regardless of PxArticulationFlag::eFIX_BASE flag.
The links, i.e. rows are in order of the low-level link indices (minus one if PxArticulationFlag::eFIX_BASE is true), see PxArticulationLink::getLinkIndex. The corresponding spatial velocities are stacked [vx; vy; vz; wx; wy; wz], where vx and wx refer to the linear and rotational velocity in world X.
The DOFs, i.e. column indices correspond to the low-level DOF indices, see PxArticulationCache::jointVelocity.

See also: PxArticulationReducedCoordinate::computeDenseJacobian

◆ externalForces

PxSpatialForce* physx::PxArticulationCache::externalForces

External forces acting on the articulation links for inverse dynamics computation.

N = getNbLinks().
Indexing follows the low-level link indices, see PxArticulationLink::getLinkIndex.
The forces are with respect to the center of mass of the link.

See also: PxArticulationReducedCoordinate::computeGeneralizedExternalForce

◆ jointAcceleration

PxReal* physx::PxArticulationCache::jointAcceleration

The articulation joint DOF accelerations.

N = getDofs().
Read using PxArticulationCacheFlag::eACCELERATION.
The indexing follows the internal DOF index order, see PxArticulationCache::jointVelocity.
Delta joint DOF velocities can be computed from acceleration * dt.

◆ jointForce

PxReal* physx::PxArticulationCache::jointForce

The articulation joint DOF forces.

N = getDofs().
Read/Write using PxArticulationCacheFlag::eFORCE.
The indexing follows the internal DOF index order, see PxArticulationCache::jointVelocity.
Applied joint forces persist and are applied each frame until changed.

◆ jointPosition

PxReal* physx::PxArticulationCache::jointPosition

The articulation joint DOF positions.

N = getDofs().
Read/write using PxArticulationCacheFlag::ePOSITION.
The indexing follows the internal DOF index order, see PxArticulationCache::jointVelocity.
For spherical joints, the joint position for each axis on the joint must be in range [-Pi, Pi].

◆ jointSolverForces

PxReal* physx::PxArticulationCache::jointSolverForces

Solver constraint joint DOF forces.

N = getDofs().
Read using PxArticulationCacheFlag::eJOINT_SOLVER_FORCES.
The indexing follows the internal DOF index order, see PxArticulationCache::jointVelocity.
Raise PxArticulationFlag::eCOMPUTE_JOINT_FORCES to enable reading the solver forces.

◆ jointVelocity

PxReal* physx::PxArticulationCache::jointVelocity

The articulation joint DOF velocities.

N = getDofs().
Read/write using PxArticulationCacheFlag::eVELOCITY.
The indexing follows the internal DOF index order. Therefore, the application should calculate the DOF data indices by summing the joint DOFs in the order of the links' low-level indices (see the manual Section "Cache Indexing" for a snippet for this calculation):
```
Low-level link index:   | link 0 | link 1 | link 2 | link 3 | ... | <- PxArticulationLink::getLinkIndex()       
```
```
Link inbound joint DOF: | 0      | 1      | 2      | 1      | ... | <- PxArticulationLink::getInboundJointDof() 
```
```
Low-level DOF index:    | -      | 0      | 1, 2   | 3      | ... |                                             
```
The root link always has low-level index 0 and always has zero inbound joint DOFs. The link DOF indexing follows the order in PxArticulationAxis::Enum. For example, assume that low-level link 2 has an inbound spherical joint with two DOFs: eSWING1 and eSWING2. The corresponding low-level joint DOF indices are therefore 1 for eSWING1 and 2 for eSWING2.

◆ lambda

PxReal* physx::PxArticulationCache::lambda

Constraint lambda values (impulses applied by the respective constraints).

N = getNbLoopJoints().
The user needs to allocate memory and set this member to the allocated memory.

See also: PxArticulationReducedCoordinate::computeLambda

◆ linkAcceleration

PxSpatialVelocity* physx::PxArticulationCache::linkAcceleration

Link classical acceleration.

N = getNbLinks().
Read using PxArticulationCacheFlag::eLINK_ACCELERATION.
The indexing follows the internal link indexing, see PxArticulationLink::getLinkIndex.
The acceleration is with respect to the link's center of mass.

See also: PxArticulationReducedCoordinate::getLinkAcceleration, PxRigidBody::getCMassLocalPose

◆ linkVelocity

PxSpatialVelocity* physx::PxArticulationCache::linkVelocity

Link spatial velocity.

N = getNbLinks().
Read using PxArticulationCacheFlag::eLINK_VELOCITY.
The indexing follows the internal link indexing, see PxArticulationLink::getLinkIndex.
The velocity is with respect to the link's center of mass.

See also: PxRigidBody::getCMassLocalPose

◆ massMatrix

PxReal* physx::PxArticulationCache::massMatrix

The generalized mass matrix that maps joint accelerations to joint forces.

N = getDofs() * getDofs().
The indexing follows the internal DOF index order, see PxArticulationCache::jointVelocity.

See also: PxArticulationReducedCoordinate::computeGeneralizedMassMatrix

◆ rootLinkData

PxArticulationRootLinkData* physx::PxArticulationCache::rootLinkData

Root link transform, velocities, and accelerations.

N = 1.
Read/write using PxArticulationCacheFlag::eROOT_TRANSFORM and PxArticulationCacheFlag::eROOT_VELOCITIES (accelerations are read-only).

See also: PxArticulationRootLinkData

◆ sensorForces

PxSpatialForce* physx::PxArticulationCache::sensorForces

Link sensor spatial forces.

N = getNbSensors().
Read using PxArticulationCacheFlag::eSENSOR_FORCES.
For indexing, see PxArticulationSensor::getIndex.

See also: PxArticulationSensor

The documentation for this class was generated from the following files:

RavEngine/deps/physx/physx/include/PxArticulationReducedCoordinate.h
RavEngine/deps/physx/physx/source/physx/src/NpArticulationReducedCoordinate.cpp

Public Member Functions

Public Attributes