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<html>
<head>
<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxArticulationLink Class Reference</title>
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<h1>PxArticulationLink Class Reference<br>
<small>
[<a class="el" href="group__physics.html">Physics</a>]</small>
</h1><!-- doxytag: class="PxArticulationLink" --><!-- doxytag: inherits="PxRigidBody" -->a component of an articulation that represents a rigid body
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="PxArticulationLink_8h-source.html">PxArticulationLink.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for PxArticulationLink:</div>
<div class="dynsection">
<p><center><img src="classPxArticulationLink__inherit__graph.png" border="0" usemap="#PxArticulationLink__inherit__map" alt="Inheritance graph"></center>
<map name="PxArticulationLink__inherit__map">
<area shape="rect" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects." alt="PxRigidBody" coords="19,224,104,245"><area shape="rect" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies..." alt="PxRigidActor" coords="20,155,103,176"><area shape="rect" href="classPxActor.html" title="PxActor is the base class for the main simulation objects in the physics SDK." alt="PxActor" coords="35,85,88,107"><area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="33,16,89,37"></map>
<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div>
<div class="dynheader">
Collaboration diagram for PxArticulationLink:</div>
<div class="dynsection">
<p><center><img src="classPxArticulationLink__coll__graph.png" border="0" usemap="#PxArticulationLink__coll__map" alt="Collaboration graph"></center>
<map name="PxArticulationLink__coll__map">
<area shape="rect" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects." alt="PxRigidBody" coords="83,322,168,344"><area shape="rect" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies..." alt="PxRigidActor" coords="84,250,167,272"><area shape="rect" href="classPxActor.html" title="PxActor is the base class for the main simulation objects in the physics SDK." alt="PxActor" coords="99,178,152,200"><area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="97,106,153,128"><area shape="rect" href="classPxFlags.html" title="PxFlags\< PxBaseFlag::Enum, PxU16 \>" alt="PxFlags\< PxBaseFlag::Enum, PxU16 \>" coords="7,16,244,37"></map>
<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div>
<p>
<a href="classPxArticulationLink-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#ec08ba9942f441a813bdd07547d9b695">release</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Deletes the articulation link. <a href="#ec08ba9942f441a813bdd07547d9b695"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxArticulation.html">PxArticulation</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#0cae4ea794e1f58b0f067c93fd6859e0">getArticulation</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get the articulation to which this articulation link belongs <a href="#0cae4ea794e1f58b0f067c93fd6859e0"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxArticulationJoint.html">PxArticulationJoint</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#3c7db121e1e104cabfdf5940f8be8818">getInboundJoint</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the joint which connects this link to its parent. <a href="#3c7db121e1e104cabfdf5940f8be8818"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#fd3fed0c244cb37751aa035cf78c8e2b">getNbChildren</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get number of child links. <a href="#fd3fed0c244cb37751aa035cf78c8e2b"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#5dbcccba26235112aa4dbb0d11466f12">getChildren</a> (<a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> **userBuffer, <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> bufferSize, <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> startIndex=0) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieve all the child links. <a href="#5dbcccba26235112aa4dbb0d11466f12"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#961fcb6a9fd40040292a71d37aa02c26">getConcreteTypeName</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns string name of dynamic type. <a href="#961fcb6a9fd40040292a71d37aa02c26"></a><br></td></tr>
<tr><td colspan="2"><br><h2>Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#ce5afc3529010882d65234d3a2954665">PxArticulationLink</a> (<a class="el" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#65430cf2c55e6b1004a2743a3d2e3588">PxArticulationLink</a> (<a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#70d94b425d53baa766606be518407c65">~PxArticulationLink</a> ()</td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationLink.html#45d7a988876af31572acca1376401c18">isKindOf</a> (const char *name) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns whether a given type name matches with the type of this instance. <a href="#45d7a988876af31572acca1376401c18"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
a component of an articulation that represents a rigid body
<p>
A limited subset of the properties of <a class="el" href="classPxRigidDynamic.html" title="PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.">PxRigidDynamic</a> are supported. In particular, sleep properties are attributes of the articulation rather than each individual body, damping and velocity limits are not supported, and links may not be kinematic.<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulation.html" title="a tree structure of bodies connected by joints that is treated as a unit by the dynamics...">PxArticulation</a> <a class="el" href="classPxArticulation.html#5e2777634f2b482e7366fb7649834c37" title="adds a link to the articulation with default attribute values.">PxArticulation.createLink</a> <a class="el" href="classPxArticulationJoint.html" title="a joint between two links in an articulation.">PxArticulationJoint</a> <a class="el" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a> </dd></dl>
<hr><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" name="ce5afc3529010882d65234d3a2954665"></a><!-- doxytag: member="PxArticulationLink::PxArticulationLink" ref="ce5afc3529010882d65234d3a2954665" args="(PxType concreteType, PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxArticulationLink::PxArticulationLink </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> </td>
<td class="paramname"> <em>concreteType</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classPxFlags.html">PxBaseFlags</a> </td>
<td class="paramname"> <em>baseFlags</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [inline, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
</div>
</div><p>
<a class="anchor" name="65430cf2c55e6b1004a2743a3d2e3588"></a><!-- doxytag: member="PxArticulationLink::PxArticulationLink" ref="65430cf2c55e6b1004a2743a3d2e3588" args="(PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxArticulationLink::PxArticulationLink </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classPxFlags.html">PxBaseFlags</a> </td>
<td class="paramname"> <em>baseFlags</em> </td>
<td> ) </td>
<td><code> [inline, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
</div>
</div><p>
<a class="anchor" name="70d94b425d53baa766606be518407c65"></a><!-- doxytag: member="PxArticulationLink::~PxArticulationLink" ref="70d94b425d53baa766606be518407c65" args="()" -->
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<td class="memname">virtual PxArticulationLink::~PxArticulationLink </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td><code> [inline, protected, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
</div>
</div><p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="0cae4ea794e1f58b0f067c93fd6859e0"></a><!-- doxytag: member="PxArticulationLink::getArticulation" ref="0cae4ea794e1f58b0f067c93fd6859e0" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxArticulation.html">PxArticulation</a>& PxArticulationLink::getArticulation </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
get the articulation to which this articulation link belongs
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the articulation to which this link belongs </dd></dl>
</div>
</div><p>
<a class="anchor" name="5dbcccba26235112aa4dbb0d11466f12"></a><!-- doxytag: member="PxArticulationLink::getChildren" ref="5dbcccba26235112aa4dbb0d11466f12" args="(PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0" -->
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<td class="memname">virtual <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> PxArticulationLink::getChildren </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classPxArticulationLink.html">PxArticulationLink</a> ** </td>
<td class="paramname"> <em>userBuffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> </td>
<td class="paramname"> <em>bufferSize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> </td>
<td class="paramname"> <em>startIndex</em> = <code>0</code></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const<code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Retrieve all the child links.
<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>userBuffer</em> </td><td>The buffer to receive articulation link pointers. </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>bufferSize</em> </td><td>Size of provided user buffer. </td></tr>
</table>
</dl>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>Number of articulation links written to the buffer. </dd></dl>
<dl compact><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>startIndex</em> </td><td>Index of first child pointer to be retrieved</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationLink.html#fd3fed0c244cb37751aa035cf78c8e2b" title="Get number of child links.">getNbChildren()</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="961fcb6a9fd40040292a71d37aa02c26"></a><!-- doxytag: member="PxArticulationLink::getConcreteTypeName" ref="961fcb6a9fd40040292a71d37aa02c26" args="() const " -->
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<td class="memname">virtual const char* PxArticulationLink::getConcreteTypeName </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Returns string name of dynamic type.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>Class name of most derived type of this object. </dd></dl>
<p>Implements <a class="el" href="classPxBase.html#67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p>
</div>
</div><p>
<a class="anchor" name="3c7db121e1e104cabfdf5940f8be8818"></a><!-- doxytag: member="PxArticulationLink::getInboundJoint" ref="3c7db121e1e104cabfdf5940f8be8818" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxArticulationJoint.html">PxArticulationJoint</a>* PxArticulationLink::getInboundJoint </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
</tr>
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<div class="memdoc">
<p>
Get the joint which connects this link to its parent.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>The joint connecting the link to the parent. NULL for the root link.</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html" title="a joint between two links in an articulation.">PxArticulationJoint</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="fd3fed0c244cb37751aa035cf78c8e2b"></a><!-- doxytag: member="PxArticulationLink::getNbChildren" ref="fd3fed0c244cb37751aa035cf78c8e2b" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="group__foundation.html#gcce5749db3dcfb916e98c253374264ed">PxU32</a> PxArticulationLink::getNbChildren </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>
Get number of child links.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the number of child links</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationLink.html#5dbcccba26235112aa4dbb0d11466f12" title="Retrieve all the child links.">getChildren()</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="45d7a988876af31572acca1376401c18"></a><!-- doxytag: member="PxArticulationLink::isKindOf" ref="45d7a988876af31572acca1376401c18" args="(const char *name) const " -->
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<td class="memname">virtual bool PxArticulationLink::isKindOf </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"> <em>superClass</em> </td>
<td> ) </td>
<td> const<code> [inline, protected, virtual]</code></td>
</tr>
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<p>
Returns whether a given type name matches with the type of this instance.
<p>
<p>Reimplemented from <a class="el" href="classPxRigidBody.html#d2e17e08871d8a2f492aee495550a0a0">PxRigidBody</a>.</p>
<p>References <a class="el" href="PxRigidBody_8h-source.html#l00562">PxRigidBody::isKindOf()</a>.</p>
</div>
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<a class="anchor" name="ec08ba9942f441a813bdd07547d9b695"></a><!-- doxytag: member="PxArticulationLink::release" ref="ec08ba9942f441a813bdd07547d9b695" args="()=0" -->
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<td class="memname">virtual void PxArticulationLink::release </td>
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<td><code> [pure virtual]</code></td>
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Deletes the articulation link.
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<dl class="note" compact><dt><b>Note:</b></dt><dd>Only a leaf articulation link can be released</dd></dl>
Do not keep a reference to the deleted instance.<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulation.html#5e2777634f2b482e7366fb7649834c37" title="adds a link to the articulation with default attribute values.">PxArticulation::createLink()</a> </dd></dl>
<p>Implements <a class="el" href="classPxRigidActor.html#1130f92afcba590b04b1e51b86f5377a">PxRigidActor</a>.</p>
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<hr>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxArticulationLink_8h-source.html">PxArticulationLink.h</a></ul>
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