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authorgit perforce import user <a@b>2016-10-25 12:29:14 -0600
committerSheikh Dawood Abdul Ajees <Sheikh Dawood Abdul Ajees>2016-10-25 18:56:37 -0500
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PhysX 3.4.0 Update @ 21294896 APEX 1.4.0 Update @ 21275617 [CL 21300167]
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+<html>
+ <head>
+ <title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxArticulation.h Source File</title>
+ <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
+ <LINK HREF="NVIDIA.css" REL="stylesheet" TYPE="text/css">
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+
+ <body bgcolor="#FFFFFF">
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+ <hr class="first">
+ <img alt="" src="images/PhysXlogo.png" align="middle"> <br>
+ <center>
+ <a class="qindex" href="main.html">Main Page</a> &nbsp;
+ <a class="qindex" href="hierarchy.html">Class Hierarchy</a> &nbsp;
+ <a class="qindex" href="annotated.html">Compound List</a> &nbsp;
+ <a class="qindex" href="functions.html">Compound Members</a> &nbsp;
+ </center>
+ <hr class="second">
+ </div>
+<!-- Generated by Doxygen 1.5.8 -->
+<h1>PxArticulation.h</h1><a href="PxArticulation_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This code contains NVIDIA Confidential Information and is disclosed to you</span>
+<a name="l00002"></a>00002 <span class="comment">// under a form of NVIDIA software license agreement provided separately to you.</span>
+<a name="l00003"></a>00003 <span class="comment">//</span>
+<a name="l00004"></a>00004 <span class="comment">// Notice</span>
+<a name="l00005"></a>00005 <span class="comment">// NVIDIA Corporation and its licensors retain all intellectual property and</span>
+<a name="l00006"></a>00006 <span class="comment">// proprietary rights in and to this software and related documentation and</span>
+<a name="l00007"></a>00007 <span class="comment">// any modifications thereto. Any use, reproduction, disclosure, or</span>
+<a name="l00008"></a>00008 <span class="comment">// distribution of this software and related documentation without an express</span>
+<a name="l00009"></a>00009 <span class="comment">// license agreement from NVIDIA Corporation is strictly prohibited.</span>
+<a name="l00010"></a>00010 <span class="comment">//</span>
+<a name="l00011"></a>00011 <span class="comment">// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES</span>
+<a name="l00012"></a>00012 <span class="comment">// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO</span>
+<a name="l00013"></a>00013 <span class="comment">// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,</span>
+<a name="l00014"></a>00014 <span class="comment">// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.</span>
+<a name="l00015"></a>00015 <span class="comment">//</span>
+<a name="l00016"></a>00016 <span class="comment">// Information and code furnished is believed to be accurate and reliable.</span>
+<a name="l00017"></a>00017 <span class="comment">// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such</span>
+<a name="l00018"></a>00018 <span class="comment">// information or for any infringement of patents or other rights of third parties that may</span>
+<a name="l00019"></a>00019 <span class="comment">// result from its use. No license is granted by implication or otherwise under any patent</span>
+<a name="l00020"></a>00020 <span class="comment">// or patent rights of NVIDIA Corporation. Details are subject to change without notice.</span>
+<a name="l00021"></a>00021 <span class="comment">// This code supersedes and replaces all information previously supplied.</span>
+<a name="l00022"></a>00022 <span class="comment">// NVIDIA Corporation products are not authorized for use as critical</span>
+<a name="l00023"></a>00023 <span class="comment">// components in life support devices or systems without express written approval of</span>
+<a name="l00024"></a>00024 <span class="comment">// NVIDIA Corporation.</span>
+<a name="l00025"></a>00025 <span class="comment">//</span>
+<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.</span>
+<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
+<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
+<a name="l00029"></a>00029
+<a name="l00030"></a>00030
+<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PX_PHYSICS_NX_ARTICULATION</span>
+<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_NX_ARTICULATION</span>
+<a name="l00033"></a>00033 <span class="preprocessor"></span>
+<a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
+<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxBase_8h.html">common/PxBase.h</a>"</span>
+<a name="l00038"></a>00038
+<a name="l00039"></a>00039 <span class="preprocessor">#if !PX_DOXYGEN</span>
+<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
+<a name="l00041"></a>00041 {
+<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
+<a name="l00043"></a>00043 <span class="preprocessor"></span>
+<a name="l00044"></a>00044 <span class="keyword">class </span><a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>;
+<a name="l00045"></a>00045
+<a name="l00053"></a><a class="code" href="classPxArticulationDriveCache.html">00053</a> <span class="keyword">class </span><a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>
+<a name="l00054"></a>00054 {
+<a name="l00055"></a>00055 <span class="keyword">protected</span>:
+<a name="l00056"></a>00056 <a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>();
+<a name="l00057"></a>00057 };
+<a name="l00058"></a>00058
+<a name="l00069"></a><a class="code" href="classPxArticulation.html">00069</a> <span class="keyword">class </span><a class="code" href="classPxArticulation.html" title="a tree structure of bodies connected by joints that is treated as a unit by the dynamics...">PxArticulation</a> : <span class="keyword">public</span> <a class="code" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection.">PxBase</a>
+<a name="l00070"></a>00070 {
+<a name="l00071"></a>00071 <span class="keyword">public</span>:
+<a name="l00079"></a>00079 <span class="keyword">virtual</span> <span class="keywordtype">void</span> release() = 0;
+<a name="l00080"></a>00080
+<a name="l00088"></a>00088 <span class="keyword">virtual</span> <a class="code" href="classPxScene.html" title="A scene is a collection of bodies, particle systems and constraints which can interact...">PxScene</a>* getScene() <span class="keyword">const</span> = 0;
+<a name="l00089"></a>00089
+<a name="l00090"></a>00090
+<a name="l00103"></a>00103 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxProjectionIterations(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> iterations) = 0;
+<a name="l00104"></a>00104
+<a name="l00113"></a>00113 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getMaxProjectionIterations() <span class="keyword">const</span> = 0;
+<a name="l00114"></a>00114
+<a name="l00126"></a>00126 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSeparationTolerance(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> tolerance) = 0;
+<a name="l00127"></a>00127
+<a name="l00136"></a>00136 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSeparationTolerance() <span class="keyword">const</span> = 0;
+<a name="l00137"></a>00137
+<a name="l00138"></a>00138
+<a name="l00151"></a>00151 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setInternalDriveIterations(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> iterations) = 0;
+<a name="l00152"></a>00152
+<a name="l00161"></a>00161 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getInternalDriveIterations() <span class="keyword">const</span> = 0;
+<a name="l00162"></a>00162
+<a name="l00163"></a>00163
+<a name="l00177"></a>00177 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setExternalDriveIterations(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> iterations) = 0;
+<a name="l00178"></a>00178
+<a name="l00187"></a>00187 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getExternalDriveIterations() <span class="keyword">const</span> = 0;
+<a name="l00188"></a>00188
+<a name="l00189"></a>00189
+<a name="l00190"></a>00190
+<a name="l00207"></a>00207 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSolverIterationCounts(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> minPositionIters, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> minVelocityIters = 1) = 0;
+<a name="l00208"></a>00208
+<a name="l00214"></a>00214 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getSolverIterationCounts(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> &amp; minPositionIters, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> &amp; minVelocityIters) <span class="keyword">const</span> = 0;
+<a name="l00215"></a>00215
+<a name="l00248"></a>00248 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isSleeping() <span class="keyword">const</span> = 0;
+<a name="l00249"></a>00249
+<a name="l00259"></a>00259 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSleepThreshold(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> threshold) = 0;
+<a name="l00260"></a>00260
+<a name="l00268"></a>00268 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSleepThreshold() <span class="keyword">const</span> = 0;
+<a name="l00269"></a>00269
+<a name="l00283"></a>00283 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setStabilizationThreshold(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> threshold) = 0;
+<a name="l00284"></a>00284
+<a name="l00294"></a>00294 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getStabilizationThreshold() <span class="keyword">const</span> = 0;
+<a name="l00295"></a>00295
+<a name="l00311"></a>00311 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setWakeCounter(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> wakeCounterValue) = 0;
+<a name="l00312"></a>00312
+<a name="l00320"></a>00320 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getWakeCounter() <span class="keyword">const</span> = 0;
+<a name="l00321"></a>00321
+<a name="l00333"></a>00333 <span class="keyword">virtual</span> <span class="keywordtype">void</span> wakeUp() = 0;
+<a name="l00334"></a>00334
+<a name="l00346"></a>00346 <span class="keyword">virtual</span> <span class="keywordtype">void</span> putToSleep() = 0;
+<a name="l00347"></a>00347
+<a name="l00360"></a>00360 <span class="keyword">virtual</span> <a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>* createLink(<a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>* parent, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>&amp; pose) = 0;
+<a name="l00361"></a>00361
+<a name="l00362"></a>00362
+<a name="l00367"></a>00367 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getNbLinks() <span class="keyword">const</span> = 0;
+<a name="l00368"></a>00368
+<a name="l00382"></a>00382 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getLinks(<a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>** userBuffer, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> bufferSize, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> startIndex=0) <span class="keyword">const</span> = 0;
+<a name="l00383"></a>00383
+<a name="l00394"></a>00394 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setName(<span class="keyword">const</span> <span class="keywordtype">char</span>* name) = 0;
+<a name="l00395"></a>00395
+<a name="l00403"></a>00403 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* getName() <span class="keyword">const</span> = 0;
+<a name="l00404"></a>00404
+<a name="l00414"></a>00414 <span class="keyword">virtual</span> <a class="code" href="classPxBounds3.html" title="Class representing 3D range or axis aligned bounding box.">PxBounds3</a> getWorldBounds(<span class="keywordtype">float</span> inflation=1.01f) <span class="keyword">const</span> = 0;
+<a name="l00415"></a>00415
+<a name="l00423"></a>00423 <span class="keyword">virtual</span> <a class="code" href="classPxAggregate.html" title="Class to aggregate actors into a single broad-phase entry.">PxAggregate</a>* getAggregate() <span class="keyword">const</span> = 0;
+<a name="l00424"></a>00424
+<a name="l00439"></a>00439 <span class="keyword">virtual</span> <a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>*
+<a name="l00440"></a>00440 createDriveCache(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> compliance, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> driveIterations) <span class="keyword">const</span> = 0;
+<a name="l00441"></a>00441
+<a name="l00442"></a>00442
+<a name="l00455"></a>00455 <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateDriveCache(<a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>&amp; driveCache,
+<a name="l00456"></a>00456 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> compliance,
+<a name="l00457"></a>00457 <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> driveIterations) <span class="keyword">const</span> = 0;
+<a name="l00458"></a>00458
+<a name="l00466"></a>00466 <span class="keyword">virtual</span> <span class="keywordtype">void</span> releaseDriveCache(<a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>&amp; driveCache) <span class="keyword">const</span> = 0;
+<a name="l00467"></a>00467
+<a name="l00481"></a>00481 <span class="keyword">virtual</span> <span class="keywordtype">void</span> applyImpulse(<a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>* link,
+<a name="l00482"></a>00482 <span class="keyword">const</span> <a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>&amp; driveCache,
+<a name="l00483"></a>00483 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; linearImpulse,
+<a name="l00484"></a>00484 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; angularImpulse) = 0;
+<a name="l00485"></a>00485
+<a name="l00503"></a>00503 <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeImpulseResponse(<a class="code" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a>*link,
+<a name="l00504"></a>00504 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; linearResponse,
+<a name="l00505"></a>00505 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; angularResponse,
+<a name="l00506"></a>00506 <span class="keyword">const</span> <a class="code" href="classPxArticulationDriveCache.html" title="Articulation drive cache.">PxArticulationDriveCache</a>&amp; driveCache,
+<a name="l00507"></a>00507 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; linearImpulse,
+<a name="l00508"></a>00508 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>&amp; angularImpulse) <span class="keyword">const</span> = 0;
+<a name="l00509"></a>00509
+<a name="l00510"></a>00510
+<a name="l00511"></a>00511 <span class="comment">//public variables:</span>
+<a name="l00512"></a><a class="code" href="classPxArticulation.html#d292404f71931e4e465bfe7581c2aa1e">00512</a> <span class="keywordtype">void</span>* userData;
+<a name="l00513"></a>00513
+<a name="l00514"></a><a class="code" href="classPxArticulation.html#7cbe2a99ed02a02156011a69d4830355">00514</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classPxArticulation.html#7cbe2a99ed02a02156011a69d4830355" title="Returns string name of dynamic type.">getConcreteTypeName</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">"PxArticulation"</span>; }
+<a name="l00515"></a>00515
+<a name="l00516"></a>00516 <span class="keyword">protected</span>:
+<a name="l00517"></a><a class="code" href="classPxArticulation.html#34e5bd7f69fc0de6c32a9bdd86ad42cc">00517</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulation.html#34e5bd7f69fc0de6c32a9bdd86ad42cc">PxArticulation</a>(<a class="code" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection.">PxBase</a>(concreteType, baseFlags) {}
+<a name="l00518"></a><a class="code" href="classPxArticulation.html#c4581a1b3e03a2fa156dc12a18929361">00518</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulation.html#c4581a1b3e03a2fa156dc12a18929361">PxArticulation</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection.">PxBase</a>(baseFlags) {}
+<a name="l00519"></a><a class="code" href="classPxArticulation.html#30d90e77b54c18880636629aea545ac3">00519</a> <span class="keyword">virtual</span> <a class="code" href="classPxArticulation.html#30d90e77b54c18880636629aea545ac3">~PxArticulation</a>() {}
+<a name="l00520"></a><a class="code" href="classPxArticulation.html#ebd44e6ecdffe21d718935245277e55a">00520</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxArticulation.html#ebd44e6ecdffe21d718935245277e55a" title="Returns whether a given type name matches with the type of this instance.">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">"PxArticulation"</span>, name) || <a class="code" href="classPxBase.html#ae9d444c7cfd1715a101350a1b1226ef" title="Returns whether a given type name matches with the type of this instance.">PxBase::isKindOf</a>(name); }
+<a name="l00521"></a>00521
+<a name="l00522"></a>00522
+<a name="l00523"></a>00523 };
+<a name="l00524"></a>00524
+<a name="l00525"></a>00525 <span class="preprocessor">#if !PX_DOXYGEN</span>
+<a name="l00526"></a>00526 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
+<a name="l00527"></a>00527 <span class="preprocessor">#endif</span>
+<a name="l00528"></a>00528 <span class="preprocessor"></span>
+<a name="l00530"></a>00530 <span class="preprocessor">#endif</span>
+</pre></div></div>
+
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