A tree structure of bodies connected by joints that is treated as a unit by the dynamics solver. Parametrized in reduced (joint) coordinates. More...

#include <PxArticulationReducedCoordinate.h>

Inheritance diagram for physx::PxArticulationReducedCoordinate:

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Collaboration diagram for physx::PxArticulationReducedCoordinate:

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Public Member Functions
virtual PxScene *	getScene () const =0
	Returns the scene which this articulation belongs to.

virtual void	setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0
	Sets the solver iteration counts for the articulation.

virtual void	getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0
	Returns the solver iteration counts.

virtual bool	isSleeping () const =0
	Returns true if this articulation is sleeping.

virtual void	setSleepThreshold (PxReal threshold)=0
	Sets the mass-normalized energy threshold below which the articulation may go to sleep.

virtual PxReal	getSleepThreshold () const =0
	Returns the mass-normalized energy below which the articulation may go to sleep.

virtual void	setStabilizationThreshold (PxReal threshold)=0
	Sets the mass-normalized kinetic energy threshold below which the articulation may participate in stabilization.

virtual PxReal	getStabilizationThreshold () const =0
	Returns the mass-normalized kinetic energy below which the articulation may participate in stabilization.

virtual void	setWakeCounter (PxReal wakeCounterValue)=0
	Sets the wake counter for the articulation in seconds.

virtual PxReal	getWakeCounter () const =0
	Returns the wake counter of the articulation in seconds.

virtual void	wakeUp ()=0
	Wakes up the articulation if it is sleeping.

virtual void	putToSleep ()=0
	Forces the articulation to sleep.

virtual void	setMaxCOMLinearVelocity (const PxReal maxLinearVelocity)=0
	Sets the limit on the magnitude of the linear velocity of the articulation's center of mass.

virtual PxReal	getMaxCOMLinearVelocity () const =0
	Gets the limit on the magnitude of the linear velocity of the articulation's center of mass.

virtual void	setMaxCOMAngularVelocity (const PxReal maxAngularVelocity)=0
	Sets the limit on the magnitude of the angular velocity at the articulation's center of mass.

virtual PxReal	getMaxCOMAngularVelocity () const =0
	Gets the limit on the magnitude of the angular velocity at the articulation's center of mass.

virtual PxArticulationLink *	createLink (PxArticulationLink *parent, const PxTransform &pose)=0
	Adds a link to the articulation with default attribute values.

virtual void	release ()=0
	Releases the articulation, and all its links and corresponding joints.

virtual PxU32	getNbLinks () const =0
	Returns the number of links in the articulation.

virtual PxU32	getLinks (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Returns the set of links in the articulation in the order that they were added to the articulation using createLink.

virtual PxU32	getNbShapes () const =0
	Returns the number of shapes in the articulation.

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

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

virtual PxBounds3	getWorldBounds (float inflation=1.01f) const =0
	Returns the axis-aligned bounding box enclosing the articulation.

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

virtual void	setArticulationFlags (PxArticulationFlags flags)=0
	Sets flags on the articulation.

virtual void	setArticulationFlag (PxArticulationFlag::Enum flag, bool value)=0
	Raises or clears a flag on the articulation.

virtual PxArticulationFlags	getArticulationFlags () const =0
	Returns the articulation's flags.

virtual PxU32	getDofs () const =0
	Returns the total number of joint degrees-of-freedom (DOFs) of the articulation.

virtual PxArticulationCache *	createCache () const =0
	Creates an articulation cache that can be used to read and write internal articulation data.

virtual PxU32	getCacheDataSize () const =0
	Returns the size of the articulation cache in bytes.

virtual void	zeroCache (PxArticulationCache &cache) const =0
	Zeroes all data in the articulation cache, except user-provided and scratch memory, and cache version.

virtual void	applyCache (PxArticulationCache &cache, const PxArticulationCacheFlags flags, bool autowake=true)=0
	Applies the data in the cache to the articulation.

virtual void	copyInternalStateToCache (PxArticulationCache &cache, const PxArticulationCacheFlags flags) const =0
	Copies internal data of the articulation to the cache.

virtual void	packJointData (const PxReal maximum, PxReal reduced) const =0
	Converts maximal-coordinate joint DOF data to reduced coordinates.

virtual void	unpackJointData (const PxReal reduced, PxReal maximum) const =0
	Converts reduced-coordinate joint DOF data to maximal coordinates.

virtual void	commonInit () const =0
	Prepares common articulation data based on articulation pose for inverse dynamics calculations.

virtual void	computeGeneralizedGravityForce (PxArticulationCache &cache) const =0
	Computes the joint DOF forces required to counteract gravitational forces for the given articulation pose.

virtual void	computeCoriolisAndCentrifugalForce (PxArticulationCache &cache) const =0
	Computes the joint DOF forces required to counteract Coriolis and centrifugal forces for the given articulation state.

virtual void	computeGeneralizedExternalForce (PxArticulationCache &cache) const =0
	Computes the joint DOF forces required to counteract external spatial forces applied to articulation links.

virtual void	computeJointAcceleration (PxArticulationCache &cache) const =0
	Computes the joint accelerations for the given articulation state and joint forces.

virtual void	computeJointForce (PxArticulationCache &cache) const =0
	Computes the joint forces for the given articulation state and joint accelerations, not considering gravity.

virtual void	computeDenseJacobian (PxArticulationCache &cache, PxU32 &nRows, PxU32 &nCols) const =0
	Compute the dense Jacobian for the articulation in world space, including the DOFs of a potentially floating base.

virtual void	computeCoefficientMatrix (PxArticulationCache &cache) const =0
	Computes the coefficient matrix for contact forces.

virtual bool	computeLambda (PxArticulationCache &cache, PxArticulationCache &initialState, const PxReal *const jointTorque, const PxU32 maxIter) const =0
	Computes the lambda values when the test impulse is 1.

virtual void	computeGeneralizedMassMatrix (PxArticulationCache &cache) const =0
	Compute the joint-space inertia matrix that maps joint accelerations to joint forces: forces = M * accelerations.

virtual void	addLoopJoint (PxConstraint *joint)=0
	Adds a loop joint to the articulation system for inverse dynamics.

virtual void	removeLoopJoint (PxConstraint *joint)=0
	Removes a loop joint from the articulation for inverse dynamics.

virtual PxU32	getNbLoopJoints () const =0
	Returns the number of loop joints in the articulation for inverse dynamics.

virtual PxU32	getLoopJoints (PxConstraint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Returns the set of loop constraints (i.e. joints) in the articulation.

virtual PxU32	getCoefficientMatrixSize () const =0
	Returns the required size of the coefficient matrix in the articulation.

virtual void	setRootGlobalPose (const PxTransform &pose, bool autowake=true)=0
	Sets the root link transform (world to actor frame).

virtual PxTransform	getRootGlobalPose () const =0
	Returns the root link transform (world to actor frame).

virtual void	setRootLinearVelocity (const PxVec3 &linearVelocity, bool autowake=true)=0
	Sets the root link linear center-of-mass velocity.

virtual PxVec3	getRootLinearVelocity (void) const =0
	Gets the root link center-of-mass linear velocity.

virtual void	setRootAngularVelocity (const PxVec3 &angularVelocity, bool autowake=true)=0
	Sets the root link angular velocity.

virtual PxVec3	getRootAngularVelocity (void) const =0
	Gets the root link angular velocity.

virtual PxSpatialVelocity	getLinkAcceleration (const PxU32 linkId)=0
	Returns the (classical) link acceleration in world space for the given low-level link index.

virtual PxU32	getGpuArticulationIndex ()=0
	Returns the GPU articulation index.

virtual PxArticulationSpatialTendon *	createSpatialTendon ()=0
	Creates a spatial tendon to attach to the articulation with default attribute values.

virtual PxArticulationFixedTendon *	createFixedTendon ()=0
	Creates a fixed tendon to attach to the articulation with default attribute values.

virtual PxArticulationSensor *	createSensor (PxArticulationLink *link, const PxTransform &relativePose)=0
	Creates a force sensor attached to a link of the articulation.

virtual PxU32	getSpatialTendons (PxArticulationSpatialTendon **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Returns the spatial tendons attached to the articulation.

virtual PxU32	getNbSpatialTendons ()=0
	Returns the number of spatial tendons in the articulation.

virtual PxU32	getFixedTendons (PxArticulationFixedTendon **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Returns the fixed tendons attached to the articulation.

virtual PxU32	getNbFixedTendons ()=0
	Returns the number of fixed tendons in the articulation.

virtual PxU32	getSensors (PxArticulationSensor **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Returns the sensors attached to the articulation.

virtual PxU32	getNbSensors ()=0
	Returns the number of sensors in the articulation.

virtual void	updateKinematic (PxArticulationKinematicFlags flags)=0
	Update link velocities and/or positions in the articulation.

Public Member Functions inherited from physx::PxBase
virtual const char *	getConcreteTypeName () const =0
	Returns string name of dynamic type.

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.

Public Attributes
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object.

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

PX_INLINE	PxArticulationReducedCoordinate (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.

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

template<class T >
bool	typeMatch () const

Additional Inherited Members
Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

A tree structure of bodies connected by joints that is treated as a unit by the dynamics solver. Parametrized in reduced (joint) coordinates.

See also: PxArticulationJointReducedCoordinate, PxArticulationLink, PxPhysics::createArticulationReducedCoordinate

Member Function Documentation

◆ addLoopJoint()

virtual void physx::PxArticulationReducedCoordinate::addLoopJoint ( PxConstraint * joint )

pure virtual

Adds a loop joint to the articulation system for inverse dynamics.

Parameters

[in] joint The joint to add.

Note: This call may not be made during simulation.

See also: PxContactJoint, PxFixedJoint, PxSphericalJoint, PxRevoluteJoint, PxPrismaticJoint, PxDistanceJoint, PxD6Joint

Implemented in physx::NpArticulationReducedCoordinate.

◆ applyCache()

virtual void physx::PxArticulationReducedCoordinate::applyCache	(	PxArticulationCache &	cache,
		const PxArticulationCacheFlags	flags,
		bool	autowake = `true`
	)

pure virtual

Applies the data in the cache to the articulation.

This call wakes the articulation if it is sleeping, and the autowake parameter is true (default) or:

a nonzero joint velocity is applied or
a nonzero joint force is applied or
a nonzero root velocity is applied

Parameters

[in]	cache	The articulation data.
[in]	flags	Indicate which data in the cache to apply to the articulation.
[in]	autowake	If true, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: PxArticulationCache, PxArticulationCacheFlags, createCache, copyInternalStateToCache, PxScene::applyArticulationData

Implemented in physx::NpArticulationReducedCoordinate.

◆ commonInit()

virtual void physx::PxArticulationReducedCoordinate::commonInit ( ) const

pure virtual

Prepares common articulation data based on articulation pose for inverse dynamics calculations.

Usage:

Set articulation pose (joint positions and base transform) via articulation cache and applyCache().
Call commonInit.
Call inverse dynamics computation method.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: computeGeneralizedGravityForce, computeCoriolisAndCentrifugalForce

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeCoefficientMatrix()

virtual void physx::PxArticulationReducedCoordinate::computeCoefficientMatrix ( PxArticulationCache & cache ) const

pure virtual

Computes the coefficient matrix for contact forces.

The matrix dimension is getCoefficientMatrixSize() = getDofs() * getNbLoopJoints(), and the DOF (column) indexing follows the internal DOF order, see PxArticulationCache::jointVelocity.
Each column in the matrix is the joint forces effected by a contact based on impulse strength 1.
The user must allocate memory for PxArticulationCache::coefficientMatrix where the required size of the PxReal array is equal to getCoefficientMatrixSize().
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[out] cache Out: PxArticulationCache::coefficientMatrix.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit, getCoefficientMatrixSize

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeCoriolisAndCentrifugalForce()

virtual void physx::PxArticulationReducedCoordinate::computeCoriolisAndCentrifugalForce ( PxArticulationCache & cache ) const

pure virtual

Computes the joint DOF forces required to counteract Coriolis and centrifugal forces for the given articulation state.

Inputs: Articulation state (joint positions and velocities (in cache), and base transform and spatial velocity).
Outputs: Joint forces to counteract Coriolis and centrifugal forces (in cache).
The joint forces returned are determined purely by the articulation's state; i.e. external forces, gravity, and joint accelerations are set to zero. Joint drives and potential damping terms, such as link angular or linear damping, or joint friction, are also not considered in the computation.
Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache().
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[in,out] cache In: PxArticulationCache::jointVelocity; Out: PxArticulationCache::jointForce.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeDenseJacobian()

virtual void physx::PxArticulationReducedCoordinate::computeDenseJacobian	(	PxArticulationCache &	cache,
		PxU32 &	nRows,
		PxU32 &	nCols
	)		const

pure virtual

Compute the dense Jacobian for the articulation in world space, including the DOFs of a potentially floating base.

This computes the dense representation of an inherently sparse matrix. Multiplication with this matrix maps joint space velocities to world-space linear and angular (i.e. spatial) velocities of the centers of mass of the links.

Parameters

[out]	cache	Sets cache.denseJacobian matrix. The matrix is indexed [nCols * row + column].
[out]	nRows	Set to number of rows in matrix, which corresponds to nbLinks() * 6, minus 6 if PxArticulationFlag::eFIX_BASE is true.
[out]	nCols	Set to number of columns in matrix, which corresponds to the number of joint DOFs, plus 6 in the case PxArticulationFlag::eFIX_BASE is false.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeGeneralizedExternalForce()

virtual void physx::PxArticulationReducedCoordinate::computeGeneralizedExternalForce ( PxArticulationCache & cache ) const

pure virtual

Computes the joint DOF forces required to counteract external spatial forces applied to articulation links.

Inputs: External forces on links (in cache), articulation pose (joint positions + base transform).
Outputs: Joint forces to counteract the external forces (in cache).
Only the external spatial forces provided in the cache and the articulation pose are considered in the computation.
The external spatial forces are with respect to the links' centers of mass, and not the actor's origin.
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[in,out] cache In: PxArticulationCache::externalForces; Out: PxArticulationCache::jointForce.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeGeneralizedGravityForce()

virtual void physx::PxArticulationReducedCoordinate::computeGeneralizedGravityForce ( PxArticulationCache & cache ) const

pure virtual

Computes the joint DOF forces required to counteract gravitational forces for the given articulation pose.

Inputs: Articulation pose (joint positions + base transform).
Outputs: Joint forces to counteract gravity (in cache).
The joint forces returned are determined purely by gravity for the articulation in the current joint and base pose, and joints at rest; i.e. external forces, joint velocities, and joint accelerations are set to zero. Joint drives are also not considered in the computation.
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[out] cache Out: PxArticulationCache::jointForce.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeGeneralizedMassMatrix()

virtual void physx::PxArticulationReducedCoordinate::computeGeneralizedMassMatrix ( PxArticulationCache & cache ) const

pure virtual

Compute the joint-space inertia matrix that maps joint accelerations to joint forces: forces = M * accelerations.

Inputs: Articulation pose (joint positions and base transform).
Outputs: Mass matrix (in cache).

commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[out] cache Out: PxArticulationCache::massMatrix.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeJointAcceleration()

virtual void physx::PxArticulationReducedCoordinate::computeJointAcceleration ( PxArticulationCache & cache ) const

pure virtual

Computes the joint accelerations for the given articulation state and joint forces.

Inputs: Joint forces (in cache) and articulation state (joint positions and velocities (in cache), and base transform and spatial velocity).
Outputs: Joint accelerations (in cache).
The computation includes Coriolis terms and gravity. However, joint drives and potential damping terms are not considered in the computation (for example, linear link damping or joint friction).
Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache().
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[in,out] cache In: PxArticulationCache::jointForce and PxArticulationCache::jointVelocity; Out: PxArticulationCache::jointAcceleration.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeJointForce()

virtual void physx::PxArticulationReducedCoordinate::computeJointForce ( PxArticulationCache & cache ) const

pure virtual

Computes the joint forces for the given articulation state and joint accelerations, not considering gravity.

Inputs: Joint accelerations (in cache) and articulation state (joint positions and velocities (in cache), and base transform and spatial velocity).
Outputs: Joint forces (in cache).
The computation includes Coriolis terms. However, joint drives and potential damping terms are not considered in the computation (for example, linear link damping or joint friction).
Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache().
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[in,out] cache In: PxArticulationCache::jointAcceleration and PxArticulationCache::jointVelocity; Out: PxArticulationCache::jointForce.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit

Implemented in physx::NpArticulationReducedCoordinate.

◆ computeLambda()

virtual bool physx::PxArticulationReducedCoordinate::computeLambda	(	PxArticulationCache &	cache,
		PxArticulationCache &	initialState,
		const PxReal *const	jointTorque,
		const PxU32	maxIter
	)		const

pure virtual

Computes the lambda values when the test impulse is 1.

The user must allocate memory for PxArticulationCache::lambda where the required size of the PxReal array is equal to getNbLoopJoints().
commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

Parameters

[out]	cache	Out: PxArticulationCache::lambda.
[in]	initialState	The initial state of the articulation system.
[in]	jointTorque	M(q)*qddot + C(q,qdot) + g(q) <- calculate by summing joint forces obtained with computeJointForce and computeGeneralizedGravityForce.
[in]	maxIter	Maximum number of solver iterations to run. If the system converges, fewer iterations may be used.

Returns: True if convergence was achieved within maxIter; False if convergence was not achieved or the operation failed otherwise.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: commonInit, getNbLoopJoints

Implemented in physx::NpArticulationReducedCoordinate.

◆ copyInternalStateToCache()

virtual void physx::PxArticulationReducedCoordinate::copyInternalStateToCache	(	PxArticulationCache &	cache,
		const PxArticulationCacheFlags	flags
	)		const

pure virtual

Copies internal data of the articulation to the cache.

Parameters

[in]	cache	The articulation data.
[in]	flags	Indicate which data to copy from the articulation to the cache.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: PxArticulationCache, PxArticulationCacheFlags, createCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ createCache()

virtual PxArticulationCache * physx::PxArticulationReducedCoordinate::createCache ( ) const

pure virtual

Creates an articulation cache that can be used to read and write internal articulation data.

When the structure of the articulation changes (e.g. adding a link or sensor) after the cache was created, the cache needs to be released and recreated.
Free the memory allocated for the cache by calling the release() method on the cache.
Caches can only be created by articulations that are in a scene.

Returns: The cache, or NULL if the articulation is not in a scene.

See also: applyCache, copyInternalStateToCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ createFixedTendon()

virtual PxArticulationFixedTendon * physx::PxArticulationReducedCoordinate::createFixedTendon ( )

pure virtual

Creates a fixed tendon to attach to the articulation with default attribute values.

Returns: The new fixed tendon.

Note: Creating a fixed tendon is not allowed while the articulation is in a scene. In order to add the tendon, remove and then re-add the articulation to the scene.

See also: PxArticulationFixedTendon

Implemented in physx::NpArticulationReducedCoordinate.

◆ createLink()

virtual PxArticulationLink * physx::PxArticulationReducedCoordinate::createLink	(	PxArticulationLink *	parent,
		const PxTransform &	pose
	)

pure virtual

Adds a link to the articulation with default attribute values.

Parameters

[in]	parent	The parent link in the articulation. Must be NULL if (and only if) this is the root link.
[in]	pose	The initial pose of the new link. Must be a valid transform.

Returns: The new link, or NULL if the link cannot be created.

Note: Creating a link is not allowed while the articulation is in a scene. In order to add a link, remove and then re-add the articulation to the scene.

See also: PxArticulationLink

Implemented in physx::NpArticulationReducedCoordinate.

◆ createSensor()

virtual PxArticulationSensor * physx::PxArticulationReducedCoordinate::createSensor	(	PxArticulationLink *	link,
		const PxTransform &	relativePose
	)

pure virtual

Creates a force sensor attached to a link of the articulation.

Parameters

[in]	link	The link to attach the sensor to.
[in]	relativePose	The sensor frame's relative pose to the link's body frame, i.e. the transform body frame -> sensor frame. The link body frame is at the center of mass and aligned with the principal axes of inertia, see PxRigidBody::getCMassLocalPose.

Returns: The new sensor.

Note: Creating a sensor is not allowed while the articulation is in a scene. In order to add the sensor, remove and then re-add the articulation to the scene.

See also: PxArticulationSensor

Implemented in physx::NpArticulationReducedCoordinate.

◆ createSpatialTendon()

virtual PxArticulationSpatialTendon * physx::PxArticulationReducedCoordinate::createSpatialTendon ( )

pure virtual

Creates a spatial tendon to attach to the articulation with default attribute values.

Returns: The new spatial tendon.

Note: Creating a spatial tendon is not allowed while the articulation is in a scene. In order to add the tendon, remove and then re-add the articulation to the scene.

See also: PxArticulationSpatialTendon

Implemented in physx::NpArticulationReducedCoordinate.

◆ getAggregate()

virtual PxAggregate * physx::PxArticulationReducedCoordinate::getAggregate ( ) const

pure virtual

Returns the aggregate the articulation might be a part of.

Returns: The aggregate the articulation is a part of, or NULL if the articulation does not belong to an aggregate.

See also: PxAggregate

Implemented in physx::NpArticulationReducedCoordinate.

◆ getArticulationFlags()

virtual PxArticulationFlags physx::PxArticulationReducedCoordinate::getArticulationFlags ( ) const

pure virtual

Returns the articulation's flags.

Returns: The flags.

See also: PxArticulationFlag

Implemented in physx::NpArticulationReducedCoordinate.

◆ getCacheDataSize()

virtual PxU32 physx::PxArticulationReducedCoordinate::getCacheDataSize ( ) const

pure virtual

Returns the size of the articulation cache in bytes.

The size does not include: the user-allocated memory for the coefficient matrix or lambda values; the scratch-related memory/members; and the cache version. See comment in #PxArticulationCache.
The return value is only valid for articulations that are in a scene.

Returns: The byte size of the cache, or 0xFFFFFFFF if the articulation is not in a scene.

See also: PxArticulationCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ getCoefficientMatrixSize()

virtual PxU32 physx::PxArticulationReducedCoordinate::getCoefficientMatrixSize ( ) const

pure virtual

Returns the required size of the coefficient matrix in the articulation.

Returns: Size of the coefficient matrix (equal to getDofs() * getNbLoopJoints()).

Note: This call may only be made on articulations that are in a scene.

See also: computeCoefficientMatrix

Implemented in physx::NpArticulationReducedCoordinate.

◆ getDofs()

virtual PxU32 physx::PxArticulationReducedCoordinate::getDofs ( ) const

pure virtual

Returns the total number of joint degrees-of-freedom (DOFs) of the articulation.

The six DOFs of the base of a floating-base articulation are not included in this count.
Example: Both a fixed-base and a floating-base double-pendulum with two revolute joints will have getDofs() == 2.
The return value is only valid for articulations that are in a scene.

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

Implemented in physx::NpArticulationReducedCoordinate.

◆ getFixedTendons()

virtual PxU32 physx::PxArticulationReducedCoordinate::getFixedTendons	(	PxArticulationFixedTendon **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Returns the fixed tendons attached to the articulation.

The order of the tendons in the buffer is not necessarily identical to the order in which the tendons were added to the articulation.

Parameters

[in]	userBuffer	The buffer into which to write the array of pointers to the tendons.
[in]	bufferSize	The size of the buffer. If this is not large enough to contain all the pointers to tendons, only as many as will fit are written. Use getNbFixedTendons to size for all attached tendons.
[in]	startIndex	Index of first tendon pointer to be retrieved.

Returns: The number of tendons written into the buffer.

See also: PxArticulationFixedTendon, getNbFixedTendons

Implemented in physx::NpArticulationReducedCoordinate.

◆ getGpuArticulationIndex()

virtual PxU32 physx::PxArticulationReducedCoordinate::getGpuArticulationIndex ( )

pure virtual

Returns the GPU articulation index.

Returns: The GPU index, or 0xFFFFFFFF if the articulation is not in a scene or PxSceneFlag::eSUPPRESS_READBACK is not set.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getLinkAcceleration()

virtual PxSpatialVelocity physx::PxArticulationReducedCoordinate::getLinkAcceleration ( const PxU32 linkId )

pure virtual

Returns the (classical) link acceleration in world space for the given low-level link index.

The returned acceleration is not a spatial, but a classical, i.e. body-fixed acceleration (https://en.wikipedia.org/wiki/Spatial_acceleration).
The (linear) acceleration is with respect to the link's center of mass and not the actor frame origin.

Parameters

[in] linkId The low-level link index, see PxArticulationLink::getLinkIndex.

Returns: The link's center-of-mass classical acceleration, or 0 if the call is made before the articulation participated in a first simulation step.

Note: This call may only be made on articulations that are in a scene, and it is not allowed to use this method 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: PxArticulationLink::getLinkIndex, PxRigidBody::getCMassLocalPose

Implemented in physx::NpArticulationReducedCoordinate.

◆ getLinks()

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

pure virtual

Returns the set of links in the articulation in the order that they were added to the articulation using createLink.

Parameters

[in]	userBuffer	Buffer into which to write the array of articulation link pointers.
[in]	bufferSize	The size of the buffer. If the buffer is not large enough to contain all the pointers to links, only as many as will fit are written.
[in]	startIndex	Index of first link pointer to be retrieved.

Returns: The number of links written into the buffer.

See also: PxArticulationLink

Implemented in physx::NpArticulationReducedCoordinate.

◆ getLoopJoints()

virtual PxU32 physx::PxArticulationReducedCoordinate::getLoopJoints	(	PxConstraint **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Returns the set of loop constraints (i.e. joints) in the articulation.

Parameters

[in]	userBuffer	Target buffer for the constraint pointers.
[in]	bufferSize	The size of the buffer. If this is not large enough to contain all the pointers to the constraints, only as many as will fit are written. Use getNbLoopJoints() to size the buffer for retrieving all constraints.
[in]	startIndex	Index of first constraint pointer to be retrieved.

Returns: The number of constraints written into the buffer.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getMaxCOMAngularVelocity()

virtual PxReal physx::PxArticulationReducedCoordinate::getMaxCOMAngularVelocity ( ) const

pure virtual

Gets the limit on the magnitude of the angular velocity at the articulation's center of mass.

Returns: The maximal angular velocity magnitude.

See also: setMaxCOMAngularVelocity

Implemented in physx::NpArticulationReducedCoordinate.

◆ getMaxCOMLinearVelocity()

virtual PxReal physx::PxArticulationReducedCoordinate::getMaxCOMLinearVelocity ( ) const

pure virtual

Gets the limit on the magnitude of the linear velocity of the articulation's center of mass.

Returns: The maximal linear velocity magnitude.

See also: setMaxCOMLinearVelocity

Implemented in physx::NpArticulationReducedCoordinate.

◆ getName()

virtual const char * physx::PxArticulationReducedCoordinate::getName ( ) const

pure virtual

Returns the name string set with setName().

Returns: Name string associated with the articulation.

See also: setName()

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbFixedTendons()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbFixedTendons ( )

pure virtual

Returns the number of fixed tendons in the articulation.

Returns: The number of tendons.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbLinks()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbLinks ( ) const

pure virtual

Returns the number of links in the articulation.

Returns: The number of links.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbLoopJoints()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbLoopJoints ( ) const

pure virtual

Returns the number of loop joints in the articulation for inverse dynamics.

Returns: The number of loop joints.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbSensors()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbSensors ( )

pure virtual

Returns the number of sensors in the articulation.

Returns: The number of sensors.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbShapes()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbShapes ( ) const

pure virtual

Returns the number of shapes in the articulation.

Returns: The number of shapes.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getNbSpatialTendons()

virtual PxU32 physx::PxArticulationReducedCoordinate::getNbSpatialTendons ( )

pure virtual

Returns the number of spatial tendons in the articulation.

Returns: The number of tendons.

Implemented in physx::NpArticulationReducedCoordinate.

◆ getRootAngularVelocity()

virtual PxVec3 physx::PxArticulationReducedCoordinate::getRootAngularVelocity ( void ) const

pure virtual

Gets the root link angular velocity.

For performance, prefer PxArticulationCache::rootLinkData to get the root link velocity in a batch query.

Returns: The root link angular velocity.

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: setRootAngularVelocity, setRootLinearVelocity, getRootLinearVelocity, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ getRootGlobalPose()

virtual PxTransform physx::PxArticulationReducedCoordinate::getRootGlobalPose ( ) const

pure virtual

Returns the root link transform (world to actor frame).

For performance, prefer PxArticulationCache::rootLinkData to get the root link transform in a batch query.

Returns: The root link transform.

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: setRootGlobalPose, PxArticulationCache, copyInternalStateToCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ getRootLinearVelocity()

virtual PxVec3 physx::PxArticulationReducedCoordinate::getRootLinearVelocity ( void ) const

pure virtual

Gets the root link center-of-mass linear velocity.

The linear velocity is with respect to the link's center of mass and not the actor frame origin.
For performance, prefer PxArticulationCache::rootLinkData to get the root link velocity in a batch query.

Returns: The root link center-of-mass linear velocity.

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: setRootLinearVelocity, setRootAngularVelocity, getRootAngularVelocity, PxRigidBody::getCMassLocalPose, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ getScene()

virtual PxScene * physx::PxArticulationReducedCoordinate::getScene ( ) const

pure virtual

Returns the scene which this articulation belongs to.

Returns: Owner Scene. NULL if not part of a scene.

See also: PxScene

Implemented in physx::NpArticulationReducedCoordinate.

◆ getSensors()

virtual PxU32 physx::PxArticulationReducedCoordinate::getSensors	(	PxArticulationSensor **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Returns the sensors attached to the articulation.

The order of the sensors in the buffer is not necessarily identical to the order in which the sensors were added to the articulation.

Parameters

[in]	userBuffer	The buffer into which to write the array of pointers to the sensors.
[in]	bufferSize	The size of the buffer. If this is not large enough to contain all the pointers to sensors, only as many as will fit are written. Use getNbSensors to size for all attached sensors.
[in]	startIndex	Index of first sensor pointer to be retrieved.

Returns: The number of sensors written into the buffer.

See also: PxArticulationSensor, getNbSensors

Implemented in physx::NpArticulationReducedCoordinate.

◆ getSleepThreshold()

virtual PxReal physx::PxArticulationReducedCoordinate::getSleepThreshold ( ) const

pure virtual

Returns the mass-normalized energy below which the articulation may go to sleep.

Returns: The energy threshold for sleeping.

See also: isSleeping() wakeUp() putToSleep() setSleepThreshold()

Implemented in physx::NpArticulationReducedCoordinate.

◆ getSolverIterationCounts()

virtual void physx::PxArticulationReducedCoordinate::getSolverIterationCounts	(	PxU32 &	minPositionIters,
		PxU32 &	minVelocityIters
	)		const

pure virtual

Returns the solver iteration counts.

See also: setSolverIterationCounts()

Implemented in physx::NpArticulationReducedCoordinate.

◆ getSpatialTendons()

virtual PxU32 physx::PxArticulationReducedCoordinate::getSpatialTendons	(	PxArticulationSpatialTendon **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Returns the spatial tendons attached to the articulation.

The order of the tendons in the buffer is not necessarily identical to the order in which the tendons were added to the articulation.

Parameters

[in]	userBuffer	The buffer into which to write the array of pointers to the tendons.
[in]	bufferSize	The size of the buffer. If this is not large enough to contain all the pointers to tendons, only as many as will fit are written. Use getNbSpatialTendons to size for all attached tendons.
[in]	startIndex	Index of first tendon pointer to be retrieved.

Returns: The number of tendons written into the buffer.

See also: PxArticulationSpatialTendon, getNbSpatialTendons

Implemented in physx::NpArticulationReducedCoordinate.

◆ getStabilizationThreshold()

virtual PxReal physx::PxArticulationReducedCoordinate::getStabilizationThreshold ( ) const

pure virtual

Returns the mass-normalized kinetic energy below which the articulation may participate in stabilization.

Articulations whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.

Returns: The energy threshold for participating in stabilization.

See also: setStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

Implemented in physx::NpArticulationReducedCoordinate.

◆ getWakeCounter()

virtual PxReal physx::PxArticulationReducedCoordinate::getWakeCounter ( ) const

pure virtual

Returns the wake counter of the articulation in seconds.

Returns: The wake counter of the articulation in seconds.

Note: This call may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: isSleeping() setWakeCounter()

Implemented in physx::NpArticulationReducedCoordinate.

◆ getWorldBounds()

virtual PxBounds3 physx::PxArticulationReducedCoordinate::getWorldBounds ( float inflation = 1.01f ) const

pure virtual

Returns the axis-aligned bounding box enclosing the articulation.

Parameters

[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns: The articulation's bounding box.

Note: It is not allowed to use this method 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: PxBounds3

Implemented in physx::NpArticulationReducedCoordinate.

◆ isSleeping()

virtual bool physx::PxArticulationReducedCoordinate::isSleeping ( ) const

pure virtual

Returns true if this articulation is sleeping.

When an actor does not move for a period of time, it is no longer simulated in order to save time. This state is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object, or a sleep-affecting property is changed by the user, the entire sleep mechanism should be transparent to the user.

An articulation can only go to sleep if all links are ready for sleeping. An articulation is guaranteed to be awake if at least one of the following holds:

The wake counter is positive (see setWakeCounter()).
The linear or angular velocity of any link is non-zero.
A non-zero force or torque has been applied to the articulation or any of its links.

If an articulation is sleeping, the following state is guaranteed:

The wake counter is zero.
The linear and angular velocity of all links is zero.
There is no force update pending.

When an articulation gets inserted into a scene, it will be considered asleep if all the points above hold, else it will be treated as awake.

If an articulation is asleep after the call to PxScene::fetchResults() returns, it is guaranteed that the poses of the links were not changed. You can use this information to avoid updating the transforms of associated objects.

Returns: True if the articulation is sleeping.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: wakeUp() putToSleep() getSleepThreshold()

Implemented in physx::NpArticulationReducedCoordinate.

◆ packJointData()

virtual void physx::PxArticulationReducedCoordinate::packJointData	(	const PxReal *	maximum,
		PxReal *	reduced
	)		const

pure virtual

Converts maximal-coordinate joint DOF data to reduced coordinates.

Indexing into the maximal joint DOF data is via the link's low-level index minus 1 (the root link is not included).
The reduced-coordinate data follows the cache indexing convention, see PxArticulationCache::jointVelocity.

Parameters

[in]	maximum	The maximal-coordinate joint DOF data, N = (getNbLinks() - 1) * 6
[out]	reduced	The reduced-coordinate joint DOF data, N = getDofs()

Note: The articulation must be in a scene.

See also: unpackJointData

Implemented in physx::NpArticulationReducedCoordinate.

◆ putToSleep()

virtual void physx::PxArticulationReducedCoordinate::putToSleep ( )

pure virtual

Forces the articulation to sleep.

The articulation will stay asleep during the next simulation step if not touched by another non-sleeping actor.
This will set any applied force, the velocity, and the wake counter of all bodies in the articulation to zero.

Note: This call may not be made during simulation, and may only be made on articulations that are in a scene.

See also: isSleeping() wakeUp()

Implemented in physx::NpArticulationReducedCoordinate.

◆ release()

virtual void physx::PxArticulationReducedCoordinate::release ( )

pure virtual

Releases the articulation, and all its links and corresponding joints.

Attached sensors and tendons are released automatically when the articulation is released.

Note: This call may not be made during simulation.

Implements physx::PxBase.

Implemented in physx::NpArticulationReducedCoordinate.

◆ removeLoopJoint()

virtual void physx::PxArticulationReducedCoordinate::removeLoopJoint ( PxConstraint * joint )

pure virtual

Removes a loop joint from the articulation for inverse dynamics.

Note: This call may not be made during simulation.

Parameters

[in] joint The joint to remove.

Implemented in physx::NpArticulationReducedCoordinate.

◆ setArticulationFlag()

virtual void physx::PxArticulationReducedCoordinate::setArticulationFlag	(	PxArticulationFlag::Enum	flag,
		bool	value
	)

pure virtual

Raises or clears a flag on the articulation.

Parameters

[in]	flag	The articulation flag.
[in]	value	The value to set the flag to.

Note: This call may not be made during simulation.

See also: PxArticulationFlag

Implemented in physx::NpArticulationReducedCoordinate.

◆ setArticulationFlags()

virtual void physx::PxArticulationReducedCoordinate::setArticulationFlags ( PxArticulationFlags flags )

pure virtual

Sets flags on the articulation.

Parameters

[in] flags The articulation flags.

Note: This call may not be made during simulation.

See also: PxArticulationFlag

Implemented in physx::NpArticulationReducedCoordinate.

◆ setMaxCOMAngularVelocity()

virtual void physx::PxArticulationReducedCoordinate::setMaxCOMAngularVelocity ( const PxReal maxAngularVelocity )

pure virtual

Sets the limit on the magnitude of the angular velocity at the articulation's center of mass.

The limit acts on the angular velocity of the entire articulation. The velocity is calculated from the total momentum and the spatial inertia of the articulation.
The limit only applies to floating-base articulations.
A benefit of the COM velocity limit is that it is evenly applied to the whole articulation, which results in fewer visual artifacts compared to link rigid-body damping or joint-velocity limits. However, these per-link or per-degree-of-freedom limits may still help avoid numerical issues.

Note: This call may not be made during simulation.

Parameters

[in] maxAngularVelocity The maximal angular velocity magnitude. Range: [0, PX_MAX_F32); Default: PX_MAX_F32.

See also: setMaxCOMLinearVelocity, PxRigidBody::setLinearDamping, PxRigidBody::setAngularDamping, PxArticulationJointReducedCoordinate::setMaxJointVelocity

Implemented in physx::NpArticulationReducedCoordinate.

◆ setMaxCOMLinearVelocity()

virtual void physx::PxArticulationReducedCoordinate::setMaxCOMLinearVelocity ( const PxReal maxLinearVelocity )

pure virtual

Sets the limit on the magnitude of the linear velocity of the articulation's center of mass.

The limit acts on the linear velocity of the entire articulation. The velocity is calculated from the total momentum and the spatial inertia of the articulation.
The limit only applies to floating-base articulations.
A benefit of the COM velocity limit is that it is evenly applied to the whole articulation, which results in fewer visual artifacts compared to link rigid-body damping or joint-velocity limits. However, these per-link or per-degree-of-freedom limits may still help avoid numerical issues.

Note: This call may not be made during simulation.

Parameters

[in] maxLinearVelocity The maximal linear velocity magnitude. Range: [0, PX_MAX_F32); Default: PX_MAX_F32.

See also: setMaxCOMAngularVelocity, PxRigidBody::setLinearDamping, PxRigidBody::setAngularDamping, PxArticulationJointReducedCoordinate::setMaxJointVelocity

Implemented in physx::NpArticulationReducedCoordinate.

◆ setName()

virtual void physx::PxArticulationReducedCoordinate::setName ( const char * name )

pure virtual

Sets a name string for the articulation that can be retrieved with getName().

This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.

Parameters

[in] name String to set the articulation's name to.

See also: getName()

Implemented in physx::NpArticulationReducedCoordinate.

◆ setRootAngularVelocity()

virtual void physx::PxArticulationReducedCoordinate::setRootAngularVelocity	(	const PxVec3 &	angularVelocity,
		bool	autowake = `true`
	)

pure virtual

Sets the root link angular velocity.

For performance, prefer PxArticulationCache::rootLinkData to set the root link velocity in a batch articulation state update.
The articulation is woken up if the input velocity is nonzero (ignoring autowake) and the articulation is in a scene.
Use updateKinematic() after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

Parameters

[in]	angularVelocity	The new root link angular velocity.
[in]	autowake	If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: updateKinematic, getRootAngularVelocity, setRootLinearVelocity, getRootLinearVelocity, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ setRootGlobalPose()

virtual void physx::PxArticulationReducedCoordinate::setRootGlobalPose	(	const PxTransform &	pose,
		bool	autowake = `true`
	)

pure virtual

Sets the root link transform (world to actor frame).

For performance, prefer PxArticulationCache::rootLinkData to set the root link transform in a batch articulation state update.
Use updateKinematic() after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

Parameters

[in]	pose	The new root link transform.
[in]	autowake	If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call may not be made during simulation.

See also: getRootGlobalPose, updateKinematic, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ setRootLinearVelocity()

virtual void physx::PxArticulationReducedCoordinate::setRootLinearVelocity	(	const PxVec3 &	linearVelocity,
		bool	autowake = `true`
	)

pure virtual

Sets the root link linear center-of-mass velocity.

The linear velocity is with respect to the link's center of mass and not the actor frame origin.
For performance, prefer PxArticulationCache::rootLinkData to set the root link velocity in a batch articulation state update.
The articulation is woken up if the input velocity is nonzero (ignoring autowake) and the articulation is in a scene.
Use updateKinematic() after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

Parameters

[in]	linearVelocity	The new root link center-of-mass linear velocity.
[in]	autowake	If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: updateKinematic, getRootLinearVelocity, setRootAngularVelocity, getRootAngularVelocity, PxRigidBody::getCMassLocalPose, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ setSleepThreshold()

virtual void physx::PxArticulationReducedCoordinate::setSleepThreshold ( PxReal threshold )

pure virtual

Sets the mass-normalized energy threshold below which the articulation may go to sleep.

The articulation will sleep if the energy of each link is below this threshold.

Parameters

[in] threshold Energy below which the articulation may go to sleep. Range: [0, PX_MAX_F32)

Note: This call may not be made during simulation.

See also: isSleeping() getSleepThreshold() wakeUp() putToSleep()

Implemented in physx::NpArticulationReducedCoordinate.

◆ setSolverIterationCounts()

virtual void physx::PxArticulationReducedCoordinate::setSolverIterationCounts	(	PxU32	minPositionIters,
		PxU32	minVelocityIters = `1`
	)

pure virtual

Sets the solver iteration counts for the articulation.

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Setting a higher position iteration count may therefore help in scenarios where the articulation is subject to many constraints; for example, a manipulator articulation with drives and joint limits that is grasping objects, or several such articulations interacting through contacts. Other situations where higher position iterations may improve simulation fidelity are: large mass ratios within the articulation or between the articulation and an object in contact with it; or strong drives in the articulation being used to manipulate a light object.

If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations. More velocity iterations will drive the relative exit velocity of the intersecting objects closer to the correct value given the restitution.

Parameters

[in]	minPositionIters	Number of position iterations the solver should perform for this articulation. Range: [1,255]
[in]	minVelocityIters	Number of velocity iterations the solver should perform for this articulation. Range: [1,255]

Note: This call may not be made during simulation.

See also: getSolverIterationCounts()

Implemented in physx::NpArticulationReducedCoordinate.

◆ setStabilizationThreshold()

virtual void physx::PxArticulationReducedCoordinate::setStabilizationThreshold ( PxReal threshold )

pure virtual

Sets the mass-normalized kinetic energy threshold below which the articulation may participate in stabilization.

Articulations whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.

This value has no effect if PxSceneFlag::eENABLE_STABILIZATION was not enabled on the PxSceneDesc.

Default: 0.01 * PxTolerancesScale::speed * PxTolerancesScale::speed

Parameters

[in] threshold Energy below which the articulation may participate in stabilization. Range: [0,inf)

Note: This call may not be made during simulation.

See also: getStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

Implemented in physx::NpArticulationReducedCoordinate.

◆ setWakeCounter()

virtual void physx::PxArticulationReducedCoordinate::setWakeCounter ( PxReal wakeCounterValue )

pure virtual

Sets the wake counter for the articulation in seconds.

The wake counter value determines the minimum amount of time until the articulation can be put to sleep.
An articulation will not be put to sleep if the energy is above the specified threshold (see setSleepThreshold()) or if other awake objects are touching it.
Passing in a positive value will wake up the articulation automatically.

Default: 0.4s (which corresponds to 20 frames for a time step of 0.02s)

Parameters

[in] wakeCounterValue Wake counter value in seconds. Range: [0, PX_MAX_F32)

Note: This call may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: isSleeping() getWakeCounter()

Implemented in physx::NpArticulationReducedCoordinate.

◆ unpackJointData()

virtual void physx::PxArticulationReducedCoordinate::unpackJointData	(	const PxReal *	reduced,
		PxReal *	maximum
	)		const

pure virtual

Converts reduced-coordinate joint DOF data to maximal coordinates.

Indexing into the maximal joint DOF data is via the link's low-level index minus 1 (the root link is not included).
The reduced-coordinate data follows the cache indexing convention, see PxArticulationCache::jointVelocity.

Parameters

[in]	reduced	The reduced-coordinate joint DOF data, N = getDofs().
[out]	maximum	The maximal-coordinate joint DOF data, N = (getNbLinks() - 1) * 6.

Note: The articulation must be in a scene.

See also: packJointData

Implemented in physx::NpArticulationReducedCoordinate.

◆ updateKinematic()

virtual void physx::PxArticulationReducedCoordinate::updateKinematic ( PxArticulationKinematicFlags flags )

pure virtual

Update link velocities and/or positions in the articulation.

For performance, prefer the PxArticulationCache API that performs batch articulation state updates.

If the application updates the root state (position and velocity) or joint state via any combination of the non-cache API calls

the application needs to call this method after the state setting in order to update the link states for the next simulation frame or querying.

Use

PxArticulationKinematicFlag::ePOSITION after any changes to the articulation root or joint positions using non-cache API calls. Updates links' positions and velocities.
PxArticulationKinematicFlag::eVELOCITY after velocity-only changes to the articulation root or joints using non-cache API calls. Updates links' velocities only.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

See also: PxArticulationKinematicFlags, PxArticulationCache, applyCache

Implemented in physx::NpArticulationReducedCoordinate.

◆ wakeUp()

virtual void physx::PxArticulationReducedCoordinate::wakeUp ( )

pure virtual

Wakes up the articulation if it is sleeping.

The articulation will get woken up and might cause other touching objects to wake up as well during the next simulation step.
This will set the wake counter of the articulation to the value specified in PxSceneDesc::wakeCounterResetValue.

Note: This call may only be made on articulations that are in a scene, and may not be made during simulation, except in a split simulation in-between PxScene::fetchCollision and PxScene::advance.

See also: isSleeping() putToSleep()

Implemented in physx::NpArticulationReducedCoordinate.

◆ zeroCache()

virtual void physx::PxArticulationReducedCoordinate::zeroCache ( PxArticulationCache & cache ) const

pure virtual

Zeroes all data in the articulation cache, except user-provided and scratch memory, and cache version.

Note: This call may only be made on articulations that are in a scene.

See also: PxArticulationCache

Implemented in physx::NpArticulationReducedCoordinate.

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

RavEngine/deps/physx/physx/include/PxArticulationReducedCoordinate.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addLoopJoint()

◆ applyCache()

◆ commonInit()

◆ computeCoefficientMatrix()

◆ computeCoriolisAndCentrifugalForce()

◆ computeDenseJacobian()

◆ computeGeneralizedExternalForce()

◆ computeGeneralizedGravityForce()

◆ computeGeneralizedMassMatrix()

◆ computeJointAcceleration()

◆ computeJointForce()

◆ computeLambda()

◆ copyInternalStateToCache()

◆ createCache()

◆ createFixedTendon()

◆ createLink()

◆ createSensor()

◆ createSpatialTendon()

◆ getAggregate()

◆ getArticulationFlags()

◆ getCacheDataSize()

◆ getCoefficientMatrixSize()

◆ getDofs()

◆ getFixedTendons()

◆ getGpuArticulationIndex()

◆ getLinkAcceleration()

◆ getLinks()

◆ getLoopJoints()

◆ getMaxCOMAngularVelocity()

◆ getMaxCOMLinearVelocity()

◆ getName()

◆ getNbFixedTendons()

◆ getNbLinks()

◆ getNbLoopJoints()

◆ getNbSensors()

◆ getNbShapes()

◆ getNbSpatialTendons()

◆ getRootAngularVelocity()

◆ getRootGlobalPose()

◆ getRootLinearVelocity()

◆ getScene()

◆ getSensors()

◆ getSleepThreshold()

◆ getSolverIterationCounts()

◆ getSpatialTendons()

◆ getStabilizationThreshold()

◆ getWakeCounter()

◆ getWorldBounds()

◆ isSleeping()

◆ packJointData()

◆ putToSleep()

◆ release()

◆ removeLoopJoint()

◆ setArticulationFlag()

◆ setArticulationFlags()

◆ setMaxCOMAngularVelocity()

◆ setMaxCOMLinearVelocity()

◆ setName()

◆ setRootAngularVelocity()

◆ setRootGlobalPose()

◆ setRootLinearVelocity()

◆ setSleepThreshold()

◆ setSolverIterationCounts()

◆ setStabilizationThreshold()

◆ setWakeCounter()

◆ unpackJointData()

◆ updateKinematic()

◆ wakeUp()

◆ zeroCache()