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Public Member Functions | List of all members
physx::Sc::ArticulationSim Class Reference
Inheritance diagram for physx::Sc::ArticulationSim:
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Collaboration diagram for physx::Sc::ArticulationSim:
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Public Member Functions

 ArticulationSim (ArticulationCore &core, Scene &scene, BodyCore &root)
 
PX_FORCE_INLINE Dy::FeatherstoneArticulation * getLowLevelArticulation () const
 
PX_FORCE_INLINE ArticulationCore & getCore () const
 
void addBody (BodySim &body, BodySim *parent, ArticulationJointSim *joint)
 
void removeBody (BodySim &body)
 
void addTendon (ArticulationSpatialTendonSim *)
 
void addTendon (ArticulationFixedTendonSim *)
 
void addSensor (ArticulationSensorSim *sensor, const PxU32 linkID)
 
void createLLStructure ()
 
void initializeConfiguration ()
 
void debugCheckWakeCounterOfLinks (PxReal wakeCounter) const
 
void debugCheckSleepStateOfLinks (bool isSleeping) const
 
bool isSleeping () const
 
void internalWakeUp (PxReal wakeCounter)
 
void sleepCheck (PxReal dt)
 
void putToSleep ()
 
void updateCCDLinks (PxArray< BodySim * > &sims)
 
void updateCached (PxBitMapPinned *shapehapeChangedMap)
 
void markShapesUpdated (PxBitMapPinned *shapeChangedMap)
 
void updateContactDistance (PxReal *contactDistance, const PxReal dt, const Bp::BoundsArray &boundsArray)
 
void setActive (const bool b, const PxU32 infoFlag=0)
 
void updateForces (PxReal dt, bool notify=true)
 
void saveLastCCDTransform ()
 
void clearAcceleration (PxReal dt)
 
void setKinematicLink (const bool value)
 
PxU32 getDofs () const
 
PxU32 getDof (const PxU32 linkID) const
 
PxArticulationCache * createCache ()
 
PxU32 getCacheDataSize () const
 
PxU32 getScratchMemorySize () const
 
void zeroCache (PxArticulationCache &) const
 
bool applyCache (PxArticulationCache &cache, const PxArticulationCacheFlags flag) const
 
void copyInternalStateToCache (PxArticulationCache &cache, const PxArticulationCacheFlags flag) const
 
void packJointData (const PxReal *maximum, PxReal *reduced) const
 
void unpackJointData (const PxReal *reduced, PxReal *maximum) const
 
void commonInit ()
 
void computeGeneralizedGravityForce (PxArticulationCache &cache)
 
void computeCoriolisAndCentrifugalForce (PxArticulationCache &cache)
 
void computeGeneralizedExternalForce (PxArticulationCache &cache)
 
void computeJointAcceleration (PxArticulationCache &cache)
 
void computeJointForce (PxArticulationCache &cache)
 
void computeKinematicJacobian (const PxU32 linkID, PxArticulationCache &cache)
 
void computeDenseJacobian (PxArticulationCache &cache, PxU32 &nRows, PxU32 &nCols)
 
void computeCoefficientMatrix (PxArticulationCache &cache)
 
bool computeLambda (PxArticulationCache &cache, PxArticulationCache &rollBackCache, const PxReal *jointTorque, const PxVec3 gravity, const PxU32 maxIter)
 
void computeGeneralizedMassMatrix (PxArticulationCache &cache)
 
PxU32 getCoefficientMatrixSize () const
 
void setRootLinearVelocity (const PxVec3 &velocity)
 
void setRootAngularVelocity (const PxVec3 &velocity)
 
PxSpatialVelocity getLinkVelocity (const PxU32 linkId) const
 
PxSpatialVelocity getLinkAcceleration (const PxU32 linkId) const
 
PX_FORCE_INLINE PxNodeIndex getIslandNodeIndex () const
 
void setGlobalPose ()
 
PxU32 findBodyIndex (BodySim &body) const
 
void setJointDirty (Dy::ArticulationJointCore &jointCore)
 
void addLoopConstraint (ConstraintSim *constraint)
 
void removeLoopConstraint (ConstraintSim *constraint)
 
PX_FORCE_INLINE PxU32 getMaxDepth ()
 
void setArticulationDirty (PxU32 flag)
 
PX_FORCE_INLINE void setDirtyFlag (ArticulationSimDirtyFlag::Enum flag)
 
PX_FORCE_INLINE ArticulationSimDirtyFlags getDirtyFlag () const
 
PX_FORCE_INLINE const Dy::ArticulationLink & getLink (const PxU32 linkId) const
 
PxU32 getRootActorIndex () const
 
const PxSpatialForce & getSensorForce (const PxU32 lowLevelIndex) const
 
void updateKinematic (PxArticulationKinematicFlags flags)
 
void copyJointStatus (const PxU32 linkIndex)
 
PX_FORCE_INLINE void getLLArticulationInitialized (bool val)
 
PX_FORCE_INLINE bool getLLArticulationInitialized ()
 
- Public Member Functions inherited from physx::PxUserAllocated
PX_INLINE void * operator new (size_t, void *address)
 
PX_INLINE void operator delete (void *, void *)
 
template<typename Alloc >
PX_INLINE void * operator new (size_t size, Alloc alloc, const char *fileName, int line)
 
template<typename Alloc >
PX_INLINE void * operator new (size_t size, size_t, Alloc alloc, const char *fileName, int line)
 
template<typename Alloc >
PX_INLINE void * operator new[] (size_t size, Alloc alloc, const char *fileName, int line)
 
template<typename Alloc >
PX_INLINE void * operator new[] (size_t size, size_t, Alloc alloc, const char *fileName, int line)
 
template<typename Alloc >
PX_INLINE void operator delete (void *ptr, Alloc alloc, const char *fileName, int line)
 
template<typename Alloc >
PX_INLINE void operator delete[] (void *ptr, Alloc alloc, const char *fileName, int line)
 
PX_INLINE void operator delete (void *ptr)
 
PX_INLINE void operator delete[] (void *ptr)
 
The documentation for this class was generated from the following files: