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Deprecated ClassesClassDescription
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Deprecated MethodsMethodDescriptionWill be removed in a future version, use getUniqueId() instead. Unique index that does not change over the lifetime of a PxParticleBuffer.Particle-cloth, -rigids, -attachments and -volumes have been deprecated.
See #PxParticleVolume.
Particle-cloth, -rigids, -attachments and -volumes have been deprecated.Particle-cloth, -rigids, -attachments and -volumes have been deprecated. See #PxParticleVolumeParticle-cloth, -rigids, -attachments and -volumes have been deprecated.Particle-cloth, -rigids, -attachments and -volumes have been deprecated.See #PxParticleRigidAttachment
Particle-cloth, -rigids, -attachments and -volumes have been deprecated. See #PxParticleRigidFilterPairParticle-cloth, -rigids, -attachments and -volumes have been deprecated.Particle-cloth, -rigids, -attachments and -volumes have been deprecated.Particle-cloth, -rigids, -attachments and -volumes have been deprecated.Particle-cloth, -rigids, -attachments and -volumes have been deprecated.The API related to loop joints will be removed in a future version once a replacement is made available.Constraint coefficient matrix.
- N = getCoefficentMatrixSize(). - The user needs to allocate memory and set this member to the allocated memory.
The API related to loop joints will be removed in a future version once a replacement is made available.Constraint lambda values (impulses applied by the respective constraints).
- N = getNbLoopJoints(). - The user needs to allocate memory and set this member to the allocated memory.
The API related to loop joints will be removed in a future version once a replacement is made available.Constraint coefficient matrix.
- N = getCoefficentMatrixSize(). - The user needs to allocate memory and set this member to the allocated memory.
The API related to loop joints will be removed in a future version once a replacement is made available.Constraint lambda values (impulses applied by the respective constraints).
- N = getNbLoopJoints(). - The user needs to allocate memory and set this member to the allocated memory.
The API related to loop joints will be removed in a future version once a replacement is made available.Adds a loop joint to the articulation system for inverse dynamics.
The API related to loop joints will be removed in a future version once a replacement is made available.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().
The API related to loop joints will be removed in a future version once a replacement is made available.Returns the required size of the coefficient matrix in the articulation.
use getGpuIndex() instead.The COM velocity limits will be removed in a future version without replacement. Gets the limit on the magnitude of the angular velocity at the articulation's center of mass.The COM velocity limits will be removed in a future version without replacement. Gets the limit on the magnitude of the linear velocity of the articulation's center of mass.The API related to loop joints will be removed in a future version once a replacement is made available.Returns the number of loop joints in the articulation for inverse dynamics.
The API related to loop joints will be removed in a future version once a replacement is made available.Removes a loop joint from the articulation for inverse dynamics.
Note: This call may not be made during simulation.
The COM velocity limits will be removed in a future version without replacement. 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.
The COM velocity limits will be removed in a future version without replacement.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.
Use getNbPBDParticleSystems() instead. Retrieve the number of particle systems of the requested type in the scene.
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Deprecated Enum ConstantsEnum ConstantDescriptionUse eBVH34 instead. Used to be default midphase mesh structure up to PhysX 3.3Will be removed in a future version; use stiffness = 1e+25f and damping = 0.f to obtain identical behavior. Sets the drive gains internally to track a target position almost kinematically (i.e. with very high drive gains).Will be removed in a future version; use stiffness = 0.f and damping = 1e+25f to obtain identical behavior. Sets the drive gains internally to track a target velocity almost kinematically (i.e. with very high drive gains).Deprecated, please use eANY_HIT instead.