A force sensor that can be attached to articulation links to measure spatial force. More...

#include <PxArticulationReducedCoordinate.h>

Inheritance diagram for physx::PxArticulationSensor:

Collaboration diagram for physx::PxArticulationSensor:

Public Member Functions
virtual void	release ()=0
	Releases the sensor.

virtual PxSpatialForce	getForces () const =0
	Returns the spatial force in the local frame of the sensor.

virtual PxTransform	getRelativePose () const =0
	Returns the relative pose between this sensor and the body frame of the link that the sensor is attached to.

virtual void	setRelativePose (const PxTransform &pose)=0
	Sets the relative pose between this sensor and the body frame of the link that the sensor is attached to.

virtual PxArticulationLink *	getLink () const =0
	Returns the link that this sensor is attached to.

virtual PxU32	getIndex () const =0
	Returns the index of this sensor inside the articulation.

virtual PxArticulationReducedCoordinate *	getArticulation () const =0
	Returns the articulation that this sensor is part of.

virtual PxArticulationSensorFlags	getFlags () const =0
	Returns the sensor's flags.

virtual void	setFlag (PxArticulationSensorFlag::Enum flag, bool enabled)=0
	Sets a flag of the sensor.

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

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.

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	PxArticulationSensor (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationSensor (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 force sensor that can be attached to articulation links to measure spatial force.

See also: PxArticulationReducedCoordinate::createSensor

Member Function Documentation

◆ getArticulation()

virtual PxArticulationReducedCoordinate * physx::PxArticulationSensor::getArticulation ( ) const

pure virtual

Returns the articulation that this sensor is part of.

Returns: A pointer to the articulation.

Implemented in physx::NpArticulationSensor.

◆ getConcreteTypeName()

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

inlinevirtual

Returns the string name of the dynamic type.

Returns: The string name.

Implements physx::PxBase.

◆ getFlags()

virtual PxArticulationSensorFlags physx::PxArticulationSensor::getFlags ( ) const

pure virtual

Returns the sensor's flags.

Returns: The current set of flags of the sensor.

See also: PxArticulationSensorFlag

Implemented in physx::NpArticulationSensor.

◆ getForces()

virtual PxSpatialForce physx::PxArticulationSensor::getForces ( ) const

pure virtual

Returns the spatial force in the local frame of the sensor.

Returns: The spatial force.

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: setRelativePose, getRelativePose

Implemented in physx::NpArticulationSensor.

◆ getIndex()

virtual PxU32 physx::PxArticulationSensor::getIndex ( ) const

pure virtual

Returns the index of this sensor inside the articulation.

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

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

Implemented in physx::NpArticulationSensor.

◆ getLink()

virtual PxArticulationLink * physx::PxArticulationSensor::getLink ( ) const

pure virtual

Returns the link that this sensor is attached to.

Returns: A pointer to the link.

Implemented in physx::NpArticulationSensor.

◆ getRelativePose()

virtual PxTransform physx::PxArticulationSensor::getRelativePose ( ) const

pure virtual

Returns the relative pose between this sensor and the body frame of the link that the sensor is attached to.

The link body frame is at the center of mass and aligned with the principal axes of inertia, see PxRigidBody::getCMassLocalPose.

Returns: The transform link body frame -> sensor frame.

See also: setRelativePose

Implemented in physx::NpArticulationSensor.

◆ release()

virtual void physx::PxArticulationSensor::release ( )

pure virtual

Releases the sensor.

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

Implements physx::PxBase.

Implemented in physx::NpArticulationSensor.

◆ setFlag()

virtual void physx::PxArticulationSensor::setFlag	(	PxArticulationSensorFlag::Enum	flag,
		bool	enabled
	)

pure virtual

Sets a flag of the sensor.

Parameters

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

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

See also: PxArticulationSensorFlag

Implemented in physx::NpArticulationSensor.

◆ setRelativePose()

virtual void physx::PxArticulationSensor::setRelativePose ( const PxTransform & pose )

pure virtual

Sets the relative pose between this sensor and the body frame of the link that the sensor is attached to.

The link body frame is at the center of mass and aligned with the principal axes of inertia, see PxRigidBody::getCMassLocalPose.

Parameters

[in] pose The transform link body frame -> sensor frame.

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

See also: getRelativePose

Implemented in physx::NpArticulationSensor.

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

◆ getArticulation()

◆ getConcreteTypeName()

◆ getFlags()

◆ getForces()

◆ getIndex()

◆ getLink()

◆ getRelativePose()

◆ release()

◆ setFlag()

◆ setRelativePose()