A component of an articulation that represents a rigid body. More...

#include <PxArticulationLink.h>

Inheritance diagram for physx::PxArticulationLink:

Collaboration diagram for physx::PxArticulationLink:

Public Member Functions
virtual void	release ()=0
	Releases the link from the articulation.

virtual PxArticulationReducedCoordinate &	getArticulation () const =0
	Gets the articulation that the link is a part of.

virtual PxArticulationJointReducedCoordinate *	getInboundJoint () const =0
	Gets the joint which connects this link to its parent.

virtual PxU32	getInboundJointDof () const =0
	Gets the number of degrees of freedom of the joint which connects this link to its parent.

virtual PxU32	getNbChildren () const =0
	Gets the number of child links.

virtual PxU32	getLinkIndex () const =0
	Gets the low-level link index that may be used to index into members of PxArticulationCache.

virtual PxU32	getChildren (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieves the child links.

virtual void	setCfmScale (const PxReal cfm)=0
	Set the constraint-force-mixing scale term.

virtual PxReal	getCfmScale () const =0
	Get the constraint-force-mixing scale term.

virtual PxVec3	getLinearVelocity () const =0
	Get the linear velocity of the link.

virtual PxVec3	getAngularVelocity () const =0
	Get the angular velocity of the link.

virtual const char *	getConcreteTypeName () const
	Returns the string name of the dynamic type.

Public Member Functions inherited from physx::PxRigidBody
virtual void	setCMassLocalPose (const PxTransform &pose)=0
	Sets the pose of the center of mass relative to the actor.

virtual PxTransform	getCMassLocalPose () const =0
	Retrieves the center of mass pose relative to the actor frame.

virtual void	setMass (PxReal mass)=0
	Sets the mass of a dynamic actor.

virtual PxReal	getMass () const =0
	Retrieves the mass of the actor.

virtual PxReal	getInvMass () const =0
	Retrieves the inverse mass of the actor.

virtual void	setMassSpaceInertiaTensor (const PxVec3 &m)=0
	Sets the inertia tensor, using a parameter specified in mass space coordinates.

virtual PxVec3	getMassSpaceInertiaTensor () const =0
	Retrieves the diagonal inertia tensor of the actor relative to the mass coordinate frame.

virtual PxVec3	getMassSpaceInvInertiaTensor () const =0
	Retrieves the diagonal inverse inertia tensor of the actor relative to the mass coordinate frame.

virtual void	setLinearDamping (PxReal linDamp)=0
	Sets the linear damping coefficient.

virtual PxReal	getLinearDamping () const =0
	Retrieves the linear damping coefficient.

virtual void	setAngularDamping (PxReal angDamp)=0
	Sets the angular damping coefficient.

virtual PxReal	getAngularDamping () const =0
	Retrieves the angular damping coefficient.

virtual void	setMaxLinearVelocity (PxReal maxLinVel)=0
	Lets you set the maximum linear velocity permitted for this actor.

virtual PxReal	getMaxLinearVelocity () const =0
	Retrieves the maximum angular velocity permitted for this actor.

virtual void	setMaxAngularVelocity (PxReal maxAngVel)=0
	Lets you set the maximum angular velocity permitted for this actor.

virtual PxReal	getMaxAngularVelocity () const =0
	Retrieves the maximum angular velocity permitted for this actor.

virtual void	addForce (const PxVec3 &force, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0
	Applies a force (or impulse) defined in the global coordinate frame to the actor at its center of mass.

virtual void	addTorque (const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE, bool autowake=true)=0
	Applies an impulsive torque defined in the global coordinate frame to the actor.

virtual void	clearForce (PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Clears the accumulated forces (sets the accumulated force back to zero).

virtual void	clearTorque (PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Clears the impulsive torque defined in the global coordinate frame to the actor.

virtual void	setForceAndTorque (const PxVec3 &force, const PxVec3 &torque, PxForceMode::Enum mode=PxForceMode::eFORCE)=0
	Sets the impulsive force and torque defined in the global coordinate frame to the actor.

virtual void	setRigidBodyFlag (PxRigidBodyFlag::Enum flag, bool value)=0
	Raises or clears a particular rigid body flag.

virtual void	setRigidBodyFlags (PxRigidBodyFlags inFlags)=0

virtual PxRigidBodyFlags	getRigidBodyFlags () const =0
	Reads the PxRigidBody flags.

virtual void	setMinCCDAdvanceCoefficient (PxReal advanceCoefficient)=0
	Sets the CCD minimum advance coefficient.

virtual PxReal	getMinCCDAdvanceCoefficient () const =0
	Gets the CCD minimum advance coefficient.

virtual void	setMaxDepenetrationVelocity (PxReal biasClamp)=0
	Sets the maximum depenetration velocity permitted to be introduced by the solver. This value controls how much velocity the solver can introduce to correct for penetrations in contacts.

virtual PxReal	getMaxDepenetrationVelocity () const =0
	Returns the maximum depenetration velocity the solver is permitted to introduced. This value controls how much velocity the solver can introduce to correct for penetrations in contacts.

virtual void	setMaxContactImpulse (PxReal maxImpulse)=0
	Sets a limit on the impulse that may be applied at a contact. The maximum impulse at a contact between two dynamic or kinematic bodies will be the minimum of the two limit values. For a collision between a static and a dynamic body, the impulse is limited by the value for the dynamic body.

virtual PxReal	getMaxContactImpulse () const =0
	Returns the maximum impulse that may be applied at a contact.

virtual void	setContactSlopCoefficient (PxReal slopCoefficient)=0
	Sets a distance scale whereby the angular influence of a contact on the normal constraint in a contact is zeroed if normal.cross(offset) falls below this tolerance. Rather than acting as an absolute value, this tolerance is scaled by the ratio rXn.dot(angVel)/normal.dot(linVel) such that contacts that have relatively larger angular velocity than linear normal velocity (e.g. rolling wheels) achieve larger slop values as the angular velocity increases.

virtual PxReal	getContactSlopCoefficient () const =0
	Returns the contact slop coefficient.

virtual PxNodeIndex	getInternalIslandNodeIndex () const =0
	Returns the island node index.

Public Member Functions inherited from physx::PxRigidActor
virtual PxU32	getInternalActorIndex () const =0
	Returns the internal actor index.

virtual PxTransform	getGlobalPose () const =0
	Retrieves the actors world space transform.

virtual void	setGlobalPose (const PxTransform &pose, bool autowake=true)=0
	Method for setting an actor's pose in the world.

virtual bool	attachShape (PxShape &shape)=0
	Attach a shape to an actor.

virtual void	detachShape (PxShape &shape, bool wakeOnLostTouch=true)=0
	Detach a shape from an actor.

virtual PxU32	getNbShapes () const =0
	Returns the number of shapes assigned to the actor.

virtual PxU32	getShapes (PxShape **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the shape pointers belonging to the actor.

virtual PxU32	getNbConstraints () const =0
	Returns the number of constraint shaders attached to the actor.

virtual PxU32	getConstraints (PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Retrieve all the constraint shader pointers belonging to the actor.

Public Member Functions inherited from physx::PxActor
virtual PxActorType::Enum	getType () const =0
	Retrieves the type of actor.

virtual PxScene *	getScene () const =0
	Retrieves the scene which this actor belongs to.

virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName().

virtual const char *	getName () const =0
	Retrieves the name string set with setName().

virtual PxBounds3	getWorldBounds (float inflation=1.01f) const =0
	Retrieves the axis aligned bounding box enclosing the actor.

virtual void	setActorFlag (PxActorFlag::Enum flag, bool value)=0
	Raises or clears a particular actor flag.

virtual void	setActorFlags (PxActorFlags inFlags)=0
	Sets the actor flags.

virtual PxActorFlags	getActorFlags () const =0
	Reads the PxActor flags.

virtual void	setDominanceGroup (PxDominanceGroup dominanceGroup)=0
	Assigns dynamic actors a dominance group identifier.

virtual PxDominanceGroup	getDominanceGroup () const =0
	Retrieves the value set with setDominanceGroup().

virtual void	setOwnerClient (PxClientID inClient)=0
	Sets the owner client of an actor.

virtual PxClientID	getOwnerClient () const =0
	Returns the owner client that was specified at creation time.

virtual PxAggregate *	getAggregate () const =0
	Retrieves the aggregate the actor might be a part of.

Public Member Functions inherited from physx::PxBase
template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object.

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags.

virtual bool	isReleasable () const
	Whether the object is subordinate.

Protected Member Functions
PX_INLINE	PxArticulationLink (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationLink (PxBaseFlags baseFlags)

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

Protected Member Functions inherited from physx::PxRigidBody
PX_INLINE	PxRigidBody (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxRigidBody (PxBaseFlags baseFlags)

Protected Member Functions inherited from physx::PxRigidActor
PX_INLINE	PxRigidActor (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxRigidActor (PxBaseFlags baseFlags)

Protected Member Functions inherited from physx::PxActor
PX_INLINE	PxActor (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxActor (PxBaseFlags baseFlags)

Protected Member Functions inherited from physx::PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags.

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags.

virtual	~PxBase ()
	Destructor.

template<class T >
bool	typeMatch () const

Additional Inherited Members
Public Attributes inherited from physx::PxActor
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

A component of an articulation that represents a rigid body.

Articulation links have a restricted subset of the functionality of a PxRigidDynamic:

They may not be kinematic, and do not support contact-force thresholds.
Their velocity or global pose cannot be set directly, but must be set via the articulation-root and joint positions/velocities.
Sleep state and solver iteration counts are properties of the entire articulation rather than the individual links.

See also: PxArticulationReducedCoordinate, PxArticulationReducedCoordinate::createLink, PxArticulationJointReducedCoordinate, PxRigidBody

Member Function Documentation

◆ getAngularVelocity()

virtual PxVec3 physx::PxArticulationLink::getAngularVelocity ( ) const

pure virtual

Get the angular velocity of the link.

For performance, prefer PxArticulationCache::linkVelocity to get link spatial velocities in a batch query.
When the articulation state is updated via non-cache API, use PxArticulationReducedCoordinate::updateKinematic before querying velocity.

Returns: The angular velocity of the link.

Note: This call is not allowed while the simulation is running except in a split simulation during PxScene::collide() and up to PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.

Implements physx::PxRigidBody.

◆ getArticulation()

virtual PxArticulationReducedCoordinate & physx::PxArticulationLink::getArticulation ( ) const

pure virtual

Gets the articulation that the link is a part of.

Returns: The articulation.

See also: PxArticulationReducedCoordinate

◆ getCfmScale()

virtual PxReal physx::PxArticulationLink::getCfmScale ( ) const

pure virtual

Get the constraint-force-mixing scale term.

Returns: The constraint-force-mixing scale term.

See also: setCfmScale

◆ getChildren()

virtual PxU32 physx::PxArticulationLink::getChildren	(	PxArticulationLink **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Retrieves the child links.

Parameters

[out]	userBuffer	The buffer to receive articulation link pointers.
[in]	bufferSize	The size of the provided user buffer, use getNbChildren() for sizing.
[in]	startIndex	The index of the first child pointer to be retrieved.

Returns: The number of articulation links written to the buffer.

See also: getNbChildren

◆ getConcreteTypeName()

virtual const char * physx::PxArticulationLink::getConcreteTypeName ( ) const

inlinevirtual

Returns the string name of the dynamic type.

Returns: The string name.

Implements physx::PxBase.

◆ getInboundJoint()

virtual PxArticulationJointReducedCoordinate * physx::PxArticulationLink::getInboundJoint ( ) const

pure virtual

Gets the joint which connects this link to its parent.

Returns: The joint connecting the link to the parent. NULL for the root link.

See also: PxArticulationJointReducedCoordinate

◆ getInboundJointDof()

virtual PxU32 physx::PxArticulationLink::getInboundJointDof ( ) const

pure virtual

Gets the number of degrees of freedom of the joint which connects this link to its parent.

The root link DOF-count is defined to be 0 regardless of PxArticulationFlag::eFIX_BASE.
The return value is only valid for articulations that are in a scene.

Returns: The number of degrees of freedom, or 0xFFFFFFFF if the articulation is not in a scene.

See also: PxArticulationJointReducedCoordinate

◆ getLinearVelocity()

virtual PxVec3 physx::PxArticulationLink::getLinearVelocity ( ) const

pure virtual

Get the linear velocity of the link.

The linear velocity is with respect to the link's center of mass and not the actor frame origin.
For performance, prefer PxArticulationCache::linkVelocity to get link spatial velocities in a batch query.
When the articulation state is updated via non-cache API, use PxArticulationReducedCoordinate::updateKinematic before querying velocity.

Returns: The linear velocity of the link.

Note: This call is not allowed while the simulation is running except in a split simulation during PxScene::collide() and up to PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.

See also: PxRigidBody::getCMassLocalPose

Implements physx::PxRigidBody.

◆ getLinkIndex()

virtual PxU32 physx::PxArticulationLink::getLinkIndex ( ) const

pure virtual

Gets the low-level link index that may be used to index into members of PxArticulationCache.

The return value is only valid for articulations that are in a scene.

Returns: The low-level index, or 0xFFFFFFFF if the articulation is not in a scene.

See also: PxArticulationCache

◆ getNbChildren()

virtual PxU32 physx::PxArticulationLink::getNbChildren ( ) const

pure virtual

Gets the number of child links.

Returns: The number of child links.

See also: getChildren

◆ isKindOf()

virtual bool physx::PxArticulationLink::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

Returns whether a given type name matches with the type of this instance.

Reimplemented from physx::PxRigidBody.

◆ release()

virtual void physx::PxArticulationLink::release ( )

pure virtual

Releases the link from the articulation.

Note: Only a leaf articulation link can be released.; Releasing a link is not allowed while the articulation link is in a scene. In order to release a link, remove and then re-add the corresponding articulation to the scene.

See also: PxArticulationReducedCoordinate::createLink()

Implements physx::PxRigidActor.

◆ setCfmScale()

virtual void physx::PxArticulationLink::setCfmScale ( const PxReal cfm )

pure virtual

Set the constraint-force-mixing scale term.

The cfm scale term is a stabilization term that helps avoid instabilities with over-constrained configurations. It should be a small value that is multiplied by 1/mass internally to produce an additional bias added to the unit response term in the solver.

Parameters

[in] cfm The constraint-force-mixing scale term.

Default: 0.025 Range: [0, 1]

Note: This call is not allowed while the simulation is running.

See also: getCfmScale

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

RavEngine/deps/physx/physx/include/PxArticulationLink.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getAngularVelocity()

◆ getArticulation()

◆ getCfmScale()

◆ getChildren()

◆ getConcreteTypeName()

◆ getInboundJoint()

◆ getInboundJointDof()

◆ getLinearVelocity()

◆ getLinkIndex()

◆ getNbChildren()

◆ isKindOf()

◆ release()

◆ setCfmScale()