Package physx.physics

Class PxArticulationReducedCoordinate

java.lang.Object

physx.NativeObject

physx.common.PxBase

physx.physics.PxArticulationBase

physx.physics.PxArticulationReducedCoordinate

public class PxArticulationReducedCoordinate
extends PxArticulationBase

Nested Class Summary

Nested classes/interfaces inherited from class physx.NativeObject

NativeObject.Allocator<T>

Field Summary

Fields inherited from class physx.NativeObject

address, isExternallyAllocated

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PxArticulationReducedCoordinate()
protected	PxArticulationReducedCoordinate(long address)

Method Summary

Modifier and Type	Method	Description
void	addLoopJoint(PxJoint joint)
void	applyCache(PxArticulationCache cache, PxArticulationCacheFlags flag)
void	applyCache(PxArticulationCache cache, PxArticulationCacheFlags flag, boolean autowake)
void	commonInit()
void	computeCoefficientMatrix(PxArticulationCache cache)
void	computeCoriolisAndCentrifugalForce(PxArticulationCache cache)
void	computeGeneralizedExternalForce(PxArticulationCache cache)
void	computeGeneralizedGravityForce(PxArticulationCache cache)
void	computeGeneralizedMassMatrix(PxArticulationCache cache)
void	computeJointAcceleration(PxArticulationCache cache)
void	computeJointForce(PxArticulationCache cache)
void	computeLambda(PxArticulationCache cache, PxArticulationCache initialState, PxRealPtr jointTorque, int maxIter)
void	copyInternalStateToCache(PxArticulationCache cache, PxArticulationCacheFlags flag)
PxArticulationCache	createCache()
PxArticulationFlags	getArticulationFlags()
int	getCacheDataSize()
int	getCoefficientMatrixSize()
int	getDofs()
PxSpatialVelocity	getLinkAcceleration(int linkId)
PxSpatialVelocity	getLinkVelocity(int linkId)
int	getNbLoopJoints()
void	packJointData(PxRealPtr maximum, PxRealPtr reduced)
void	releaseCache(PxArticulationCache cache)
void	removeLoopJoint(PxJoint joint)
void	setArticulationFlag(int flag, boolean value)
void	setArticulationFlags(PxArticulationFlags flags)
void	teleportRootLink(PxTransform pose, boolean autowake)
void	unpackJointData(PxRealPtr reduced, PxRealPtr maximum)
static PxArticulationReducedCoordinate	wrapPointer(long address)
void	zeroCache(PxArticulationCache cache)

Methods inherited from class physx.physics.PxArticulationBase

createLink, getAggregate, getName, getNbLinks, getScene, getSleepThreshold, getStabilizationThreshold, getWakeCounter, getWorldBounds, isSleeping, putToSleep, setName, setSleepThreshold, setSolverIterationCounts, setStabilizationThreshold, setWakeCounter, wakeUp

Methods inherited from class physx.common.PxBase

getBaseFlags, getConcreteType, getConcreteTypeName, isReleasable, release, setBaseFlag, setBaseFlags

Methods inherited from class physx.NativeObject

checkNotNull, equals, getAddress, hashCode

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PxArticulationReducedCoordinate

protected PxArticulationReducedCoordinate()

PxArticulationReducedCoordinate

protected PxArticulationReducedCoordinate(long address)

Method Detail

wrapPointer

public static PxArticulationReducedCoordinate wrapPointer(long address)

setArticulationFlags

public void setArticulationFlags(PxArticulationFlags flags)

Parameters:

flags - WebIDL type: PxArticulationFlags [Ref]

setArticulationFlag

public void setArticulationFlag(int flag,
                                boolean value)

Parameters:

flag - WebIDL type: PxArticulationFlagEnum [enum]

value - WebIDL type: boolean

getArticulationFlags

public PxArticulationFlags getArticulationFlags()

Returns:

WebIDL type: PxArticulationFlags [Value]

getDofs

public int getDofs()

Returns:

WebIDL type: unsigned long

createCache

public PxArticulationCache createCache()

Returns:

WebIDL type: PxArticulationCache

getCacheDataSize

public int getCacheDataSize()

Returns:

WebIDL type: unsigned long

zeroCache

public void zeroCache(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

applyCache

public void applyCache(PxArticulationCache cache,
                       PxArticulationCacheFlags flag)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

flag - WebIDL type: PxArticulationCacheFlags [Const, Ref]

applyCache

public void applyCache(PxArticulationCache cache,
                       PxArticulationCacheFlags flag,
                       boolean autowake)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

flag - WebIDL type: PxArticulationCacheFlags [Const, Ref]

autowake - WebIDL type: boolean

copyInternalStateToCache

public void copyInternalStateToCache(PxArticulationCache cache,
                                     PxArticulationCacheFlags flag)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

flag - WebIDL type: PxArticulationCacheFlags [Const, Ref]

releaseCache

public void releaseCache(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

packJointData

public void packJointData(PxRealPtr maximum,
                          PxRealPtr reduced)

Parameters:

maximum - WebIDL type: PxRealPtr [Ref]

reduced - WebIDL type: PxRealPtr [Ref]

unpackJointData

public void unpackJointData(PxRealPtr reduced,
                            PxRealPtr maximum)

Parameters:

reduced - WebIDL type: PxRealPtr [Ref]

maximum - WebIDL type: PxRealPtr [Ref]

commonInit

public void commonInit()

computeGeneralizedGravityForce

public void computeGeneralizedGravityForce(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeCoriolisAndCentrifugalForce

public void computeCoriolisAndCentrifugalForce(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeGeneralizedExternalForce

public void computeGeneralizedExternalForce(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeJointAcceleration

public void computeJointAcceleration(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeJointForce

public void computeJointForce(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeCoefficientMatrix

public void computeCoefficientMatrix(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

computeLambda

public void computeLambda(PxArticulationCache cache,
                          PxArticulationCache initialState,
                          PxRealPtr jointTorque,
                          int maxIter)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

initialState - WebIDL type: PxArticulationCache [Ref]

jointTorque - WebIDL type: PxRealPtr [Ref]

maxIter - WebIDL type: unsigned long

computeGeneralizedMassMatrix

public void computeGeneralizedMassMatrix(PxArticulationCache cache)

Parameters:

cache - WebIDL type: PxArticulationCache [Ref]

addLoopJoint

public void addLoopJoint(PxJoint joint)

Parameters:

joint - WebIDL type: PxJoint

removeLoopJoint

public void removeLoopJoint(PxJoint joint)

Parameters:

joint - WebIDL type: PxJoint

getNbLoopJoints

public int getNbLoopJoints()

Returns:

WebIDL type: unsigned long

getCoefficientMatrixSize

public int getCoefficientMatrixSize()

Returns:

WebIDL type: unsigned long

teleportRootLink

public void teleportRootLink(PxTransform pose,
                             boolean autowake)

Parameters:

pose - WebIDL type: PxTransform [Const, Ref]

autowake - WebIDL type: boolean

getLinkVelocity

public PxSpatialVelocity getLinkVelocity(int linkId)

Parameters:

linkId - WebIDL type: unsigned long

Returns:

WebIDL type: PxSpatialVelocity [Value]

getLinkAcceleration

public PxSpatialVelocity getLinkAcceleration(int linkId)

Parameters:

linkId - WebIDL type: unsigned long

Returns:

WebIDL type: PxSpatialVelocity [Value]