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<a href="PxArticulationReducedCoordinate_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED. 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All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_NX_ARTICULATION_RC</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_NX_ARTICULATION_RC</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxArticulationBase_8h.html">PxArticulationBase.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxTransform_8h.html">foundation/PxTransform.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxSolverDefs_8h.html">solver/PxSolverDefs.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;{</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; 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<a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxArticulationRootLinkData.html#a31a1563d7d322c9a8898b3ed278e08c1">worldAngVel</a>;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structPxArticulationRootLinkData.html#a7486a9d76ac13182f58f5a1876b919a2"> 73</a></span>&#160; <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxArticulationRootLinkData.html#a7486a9d76ac13182f58f5a1876b919a2">worldLinAccel</a>;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structPxArticulationRootLinkData.html#ab1502e0364f2784bb5465415256ac778"> 74</a></span>&#160; <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxArticulationRootLinkData.html#ab1502e0364f2784bb5465415256ac778">worldAngAccel</a>;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; };</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html"> 77</a></span>&#160; 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eACCELERATION = (1 &lt;&lt; 1), </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea74109d30461c72534eb5a36baf352e6a"> 84</a></span>&#160; ePOSITION = (1 &lt;&lt; 2), </div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea89efd599f1473d4a795b89fb71c5012a"> 85</a></span>&#160; eFORCE = (1 &lt;&lt; 3), </div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14eacaf9eee2de38014ce959feb30fba9d1b"> 86</a></span>&#160; eLINKVELOCITY = (1 &lt;&lt; 4), </div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea1ee0f9a7f94765e59bc93944a434af54"> 87</a></span>&#160; eLINKACCELERATION = (1 &lt;&lt; 5), </div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea6066321f08d523d0b73cfbdf2b44041c"> 88</a></span>&#160; eROOT = (1 &lt;&lt; 6), </div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14ea86872df915168195ac00a5cb1033ee29"> 89</a></span>&#160; eALL = (eVELOCITY | eACCELERATION | ePOSITION| eLINKVELOCITY | eLINKACCELERATION | eROOT )</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; };</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a750cf6f5d426723b6d6cf731bd290ea5"> 91</a></span>&#160; <a class="code" href="classPxArticulationCache.html#a750cf6f5d426723b6d6cf731bd290ea5">PxArticulationCache</a>() :</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; externalForces (NULL),</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; denseJacobian (NULL),</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; massMatrix (NULL),</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; jointVelocity (NULL),</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; jointAcceleration (NULL),</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; jointPosition (NULL),</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; jointForce (NULL),</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; rootLinkData (NULL),</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; coefficientMatrix (NULL),</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; lambda (NULL),</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; scratchMemory (NULL),</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; scratchAllocator (NULL),</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; version (0)</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; {}</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a6bcc917d32fa1a60a671283e0a907e5c"> 107</a></span>&#160; <a class="code" href="structPxSpatialForce.html">PxSpatialForce</a>* <a class="code" href="classPxArticulationCache.html#a6bcc917d32fa1a60a671283e0a907e5c">externalForces</a>; <span class="comment">// N = getNbLinks()</span></div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a215d7bc2b910aef6ba6e594843d136bc"> 108</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a215d7bc2b910aef6ba6e594843d136bc">denseJacobian</a>; <span class="comment">// N = 6*getDofs()*NumJoints, NumJoints = getNbLinks() - 1</span></div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a40849b1b079c9b0e517fb7eaea488ccf"> 109</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a40849b1b079c9b0e517fb7eaea488ccf">massMatrix</a>; <span class="comment">// N = getDofs()*getDofs()</span></div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#aab37dabd7db43ef927337da7f6ea9f5a"> 110</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#aab37dabd7db43ef927337da7f6ea9f5a">jointVelocity</a>; <span class="comment">// N = getDofs()</span></div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a515142b078989bf5034c5a97b6978c1b"> 111</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a515142b078989bf5034c5a97b6978c1b">jointAcceleration</a>; <span class="comment">// N = getDofs()</span></div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a64e8f0b09d6860f91d7a830c11bdddc9"> 112</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a64e8f0b09d6860f91d7a830c11bdddc9">jointPosition</a>; <span class="comment">// N = getDofs()</span></div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a952f509c174636c1c11e8c61bda30eaa"> 113</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a952f509c174636c1c11e8c61bda30eaa">jointForce</a>; <span class="comment">// N = getDofs()</span></div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a91adda674694b0f628a07e4ca89bcec5"> 114</a></span>&#160; <a class="code" href="structPxSpatialVelocity.html">PxSpatialVelocity</a>* <a class="code" href="classPxArticulationCache.html#a91adda674694b0f628a07e4ca89bcec5">linkVelocity</a>; <span class="comment">// N = getNbLinks()</span></div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#ac67f33a6b89001467a31fd4a3f4afa23"> 115</a></span>&#160; <a class="code" href="structPxSpatialVelocity.html">PxSpatialVelocity</a>* <a class="code" href="classPxArticulationCache.html#ac67f33a6b89001467a31fd4a3f4afa23">linkAcceleration</a>; <span class="comment">// N = getNbLinks()</span></div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#ae0431d9e6e127c49cf7cc53532b4b393"> 116</a></span>&#160; <a class="code" href="structPxArticulationRootLinkData.html">PxArticulationRootLinkData</a>* <a class="code" href="classPxArticulationCache.html#ae0431d9e6e127c49cf7cc53532b4b393">rootLinkData</a>; <span class="comment">// root link Data</span></div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160; <span class="comment">//application need to allocate those memory and assign them to the cache</span></div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a9df694963228f4ae0c9e58ca9d6bff02"> 119</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#a9df694963228f4ae0c9e58ca9d6bff02">coefficientMatrix</a>; </div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#aa90b660a293d6ce7984d49e8be270465"> 120</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <a class="code" href="classPxArticulationCache.html#aa90b660a293d6ce7984d49e8be270465">lambda</a>;</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; <span class="comment">//These three members won&#39;t be set to zero when zeroCache get called </span></div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#a237505e945f16c9afddb3c431f9d6a7b"> 123</a></span>&#160; <span class="keywordtype">void</span>* <a class="code" href="classPxArticulationCache.html#a237505e945f16c9afddb3c431f9d6a7b">scratchMemory</a>; <span class="comment">//this is used for internal calculation</span></div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#ac5356bfc4c7b57dec9bdd33c698ae96c"> 124</a></span>&#160; <span class="keywordtype">void</span>* <a class="code" href="classPxArticulationCache.html#ac5356bfc4c7b57dec9bdd33c698ae96c">scratchAllocator</a>;</div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classPxArticulationCache.html#af8becefcb89c7a26df4372809e31b343"> 125</a></span>&#160; <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="classPxArticulationCache.html#af8becefcb89c7a26df4372809e31b343">version</a>; <span class="comment">//cache version. If the articulation configuration change, the cache is invalid</span></div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160; };</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a"> 128</a></span>&#160; <span class="keyword">typedef</span> <a class="code" href="classPxFlags.html">PxFlags&lt;PxArticulationCache::Enum, PxU8&gt;</a> <a class="code" href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a>;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; PX_FLAGS_OPERATORS(<a class="code" href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14e">PxArticulationCache::Enum</a>, <a class="code" href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">PxU8</a>)</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160; </div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160;<span class="preprocessor">#if PX_VC</span></div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160;<span class="preprocessor">#pragma warning(push)</span></div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;<span class="preprocessor">#pragma warning(disable : 4435)</span></div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classPxArticulationReducedCoordinate.html"> 147</a></span>&#160; <span class="keyword">class </span><a class="code" href="classPxArticulationReducedCoordinate.html">PxArticulationReducedCoordinate</a> : <span class="keyword">public</span> <a class="code" href="classPxArticulationBase.html">PxArticulationBase</a></div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160; {</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> release() = 0;</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setArticulationFlags(<a class="code" href="classPxFlags.html">PxArticulationFlags</a> <a class="code" href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a>) = 0;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setArticulationFlag(<a class="code" href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a> flag, <span class="keywordtype">bool</span> value) = 0;</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxFlags.html">PxArticulationFlags</a> getArticulationFlags() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getDofs() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>* createCache() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getCacheDataSize() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> zeroCache(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) = 0;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> applyCache(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache, <span class="keyword">const</span> <a class="code" href="classPxFlags.html">PxArticulationCacheFlags</a> flag, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span>) = 0;</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> copyInternalStateToCache(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache, <span class="keyword">const</span> <a class="code" href="classPxFlags.html">PxArticulationCacheFlags</a> flag) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> releaseCache(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> packJointData(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* maximum, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* reduced) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> unpackJointData(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* reduced, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* maximum) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> commonInit() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeGeneralizedGravityForce(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeCoriolisAndCentrifugalForce(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeGeneralizedExternalForce(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeJointAcceleration(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeJointForce(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>&#160;</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeDenseJacobian(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&amp; nRows, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&amp; nCols) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeCoefficientMatrix(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>&#160; </div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> computeLambda(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache, <a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; initialState, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* <span class="keyword">const</span> jointTorque, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> maxIter) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>&#160; </div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> computeGeneralizedMassMatrix(<a class="code" href="classPxArticulationCache.html">PxArticulationCache</a>&amp; cache) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>&#160; </div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> addLoopJoint(<a class="code" href="classPxJoint.html">PxJoint</a>* joint) = 0;</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> removeLoopJoint(<a class="code" href="classPxJoint.html">PxJoint</a>* joint) = 0;</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>&#160;</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getNbLoopJoints() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getLoopJoints(<a class="code" href="classPxJoint.html">PxJoint</a>** userBuffer, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> bufferSize, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> startIndex = 0) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>&#160;</div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getCoefficientMatrixSize() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> teleportRootLink(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; pose, <span class="keywordtype">bool</span> autowake) = 0;</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>&#160;</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>&#160;</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>&#160; <span class="keyword">virtual</span> <a class="code" href="structPxSpatialVelocity.html">PxSpatialVelocity</a> getLinkVelocity(<span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> linkId) = 0;</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span>&#160;</div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span>&#160; <span class="keyword">virtual</span> <a class="code" href="structPxSpatialVelocity.html">PxSpatialVelocity</a> getLinkAcceleration(<span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> linkId) = 0;</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>&#160;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="classPxArticulationReducedCoordinate.html#a3202bc9b19b72c88c7ea32421dce3cc9"> 408</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationReducedCoordinate.html#a3202bc9b19b72c88c7ea32421dce3cc9">PxArticulationReducedCoordinate</a>(<a class="code" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxArticulationBase.html">PxArticulationBase</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="classPxArticulationReducedCoordinate.html#a51b6d2bcecd81b268219e7a5d1d8f10c"> 409</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationReducedCoordinate.html#a51b6d2bcecd81b268219e7a5d1d8f10c">PxArticulationReducedCoordinate</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxArticulationBase.html">PxArticulationBase</a>(baseFlags) {}</div><div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classPxArticulationReducedCoordinate.html#a1a6a5ea9fbce5fab1389809cde5ce12a"> 410</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationReducedCoordinate.html#a1a6a5ea9fbce5fab1389809cde5ce12a">~PxArticulationReducedCoordinate</a>() {}</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span>&#160; };</div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span>&#160;<span class="preprocessor">#if PX_VC</span></div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span>&#160;<span class="preprocessor">#pragma warning(pop)</span></div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>&#160;</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00419"></a><span class="lineno"> 419</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span>&#160;</div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="PxArticulationBase_8h_html"><div class="ttname"><a href="PxArticulationBase_8h.html">PxArticulationBase.h</a></div></div>
<div class="ttc" id="structPxSpatialForce_html_a2cdc903082cac57c5458f24dbfa2e1e3"><div class="ttname"><a href="structPxSpatialForce.html#a2cdc903082cac57c5458f24dbfa2e1e3">PxSpatialForce::pad0</a></div><div class="ttdeci">PxReal pad0</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:50</div></div>
<div class="ttc" id="classPxArticulationCache_html_af8becefcb89c7a26df4372809e31b343"><div class="ttname"><a href="classPxArticulationCache.html#af8becefcb89c7a26df4372809e31b343">PxArticulationCache::version</a></div><div class="ttdeci">PxU32 version</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:125</div></div>
<div class="ttc" id="group__physics_html_ga1619e335e650ffbd52cd4961bc0dea9a"><div class="ttname"><a href="group__physics.html#ga1619e335e650ffbd52cd4961bc0dea9a">PxArticulationCacheFlags</a></div><div class="ttdeci">PxFlags&lt; PxArticulationCache::Enum, PxU8 &gt; PxArticulationCacheFlags</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:128</div></div>
<div class="ttc" id="structPxSpatialForce_html"><div class="ttname"><a href="structPxSpatialForce.html">PxSpatialForce</a></div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:47</div></div>
<div class="ttc" id="structPxSpatialForce_html_aee182664c6f1807eb945d3c83ac746b3"><div class="ttname"><a href="structPxSpatialForce.html#aee182664c6f1807eb945d3c83ac746b3">PxSpatialForce::pad1</a></div><div class="ttdeci">PxReal pad1</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:52</div></div>
<div class="ttc" id="classPxArticulationCache_html_aab37dabd7db43ef927337da7f6ea9f5a"><div class="ttname"><a href="classPxArticulationCache.html#aab37dabd7db43ef927337da7f6ea9f5a">PxArticulationCache::jointVelocity</a></div><div class="ttdeci">PxReal * jointVelocity</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:110</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html_a7486a9d76ac13182f58f5a1876b919a2"><div class="ttname"><a href="structPxArticulationRootLinkData.html#a7486a9d76ac13182f58f5a1876b919a2">PxArticulationRootLinkData::worldLinAccel</a></div><div class="ttdeci">PxVec3 worldLinAccel</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:73</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="classPxArticulationCache_html_ac67f33a6b89001467a31fd4a3f4afa23"><div class="ttname"><a href="classPxArticulationCache.html#ac67f33a6b89001467a31fd4a3f4afa23">PxArticulationCache::linkAcceleration</a></div><div class="ttdeci">PxSpatialVelocity * linkAcceleration</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:115</div></div>
<div class="ttc" id="classPxArticulationReducedCoordinate_html_a3202bc9b19b72c88c7ea32421dce3cc9"><div class="ttname"><a href="classPxArticulationReducedCoordinate.html#a3202bc9b19b72c88c7ea32421dce3cc9">PxArticulationReducedCoordinate::PxArticulationReducedCoordinate</a></div><div class="ttdeci">PX_INLINE PxArticulationReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:408</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html_af0dcfa25c769c89fd405eeaed52b3c1f"><div class="ttname"><a href="structPxArticulationRootLinkData.html#af0dcfa25c769c89fd405eeaed52b3c1f">PxArticulationRootLinkData::transform</a></div><div class="ttdeci">PxTransform transform</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:70</div></div>
<div class="ttc" id="structPxSpatialVelocity_html_a02e82818206391c9ece02f9422ba159d"><div class="ttname"><a href="structPxSpatialVelocity.html#a02e82818206391c9ece02f9422ba159d">PxSpatialVelocity::pad0</a></div><div class="ttdeci">PxReal pad0</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:60</div></div>
<div class="ttc" id="structPxSpatialVelocity_html_a9f786fd589f7cdd251bce4533740a3dc"><div class="ttname"><a href="structPxSpatialVelocity.html#a9f786fd589f7cdd251bce4533740a3dc">PxSpatialVelocity::angular</a></div><div class="ttdeci">PxVec3 angular</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:61</div></div>
<div class="ttc" id="structPxSpatialVelocity_html_ac02baccbfcfc70da86f7e26a927e2f6c"><div class="ttname"><a href="structPxSpatialVelocity.html#ac02baccbfcfc70da86f7e26a927e2f6c">PxSpatialVelocity::linear</a></div><div class="ttdeci">PxVec3 linear</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:59</div></div>
<div class="ttc" id="structPxSpatialVelocity_html_a1873df39ae53892ee11f61eecf4493ac"><div class="ttname"><a href="structPxSpatialVelocity.html#a1873df39ae53892ee11f61eecf4493ac">PxSpatialVelocity::pad1</a></div><div class="ttdeci">PxReal pad1</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:62</div></div>
<div class="ttc" id="group__common_html_gac1fb4b256a5d900d394e89db170a2b79"><div class="ttname"><a href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a></div><div class="ttdeci">PxU16 PxType</div><div class="ttdef"><b>Definition:</b> PxBase.h:49</div></div>
<div class="ttc" id="classPxArticulationCache_html_a215d7bc2b910aef6ba6e594843d136bc"><div class="ttname"><a href="classPxArticulationCache.html#a215d7bc2b910aef6ba6e594843d136bc">PxArticulationCache::denseJacobian</a></div><div class="ttdeci">PxReal * denseJacobian</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:108</div></div>
<div class="ttc" id="classPxArticulationCache_html"><div class="ttname"><a href="classPxArticulationCache.html">PxArticulationCache</a></div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:77</div></div>
<div class="ttc" id="classPxArticulationCache_html_a515142b078989bf5034c5a97b6978c1b"><div class="ttname"><a href="classPxArticulationCache.html#a515142b078989bf5034c5a97b6978c1b">PxArticulationCache::jointAcceleration</a></div><div class="ttdeci">PxReal * jointAcceleration</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:111</div></div>
<div class="ttc" id="classPxJoint_html"><div class="ttname"><a href="classPxJoint.html">PxJoint</a></div><div class="ttdoc">a base interface providing common functionality for PhysX joints </div><div class="ttdef"><b>Definition:</b> PxJoint.h:101</div></div>
<div class="ttc" id="structPxSpatialForce_html_ae286b879840cc34b800fb254b824bbe6"><div class="ttname"><a href="structPxSpatialForce.html#ae286b879840cc34b800fb254b824bbe6">PxSpatialForce::force</a></div><div class="ttdeci">PxVec3 force</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:49</div></div>
<div class="ttc" id="classPxArticulationCache_html_ae0431d9e6e127c49cf7cc53532b4b393"><div class="ttname"><a href="classPxArticulationCache.html#ae0431d9e6e127c49cf7cc53532b4b393">PxArticulationCache::rootLinkData</a></div><div class="ttdeci">PxArticulationRootLinkData * rootLinkData</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:116</div></div>
<div class="ttc" id="classPxArticulationReducedCoordinate_html"><div class="ttname"><a href="classPxArticulationReducedCoordinate.html">PxArticulationReducedCoordinate</a></div><div class="ttdoc">a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:147</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_acfdd81caa30ceb0af5fafb4064b1bc67"><div class="ttname"><a href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a></div><div class="ttdeci">PxU16 flags</div><div class="ttdoc">a set of Px1DConstraintFlags </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:110</div></div>
<div class="ttc" id="classPxArticulationReducedCoordinate_html_a1a6a5ea9fbce5fab1389809cde5ce12a"><div class="ttname"><a href="classPxArticulationReducedCoordinate.html#a1a6a5ea9fbce5fab1389809cde5ce12a">PxArticulationReducedCoordinate::~PxArticulationReducedCoordinate</a></div><div class="ttdeci">virtual ~PxArticulationReducedCoordinate()</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:410</div></div>
<div class="ttc" id="classPxArticulationCache_html_aa90b660a293d6ce7984d49e8be270465"><div class="ttname"><a href="classPxArticulationCache.html#aa90b660a293d6ce7984d49e8be270465">PxArticulationCache::lambda</a></div><div class="ttdeci">PxReal * lambda</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:120</div></div>
<div class="ttc" id="group__foundation_html_gaa645944027e6f4e405de626910e82d8d"><div class="ttname"><a href="group__foundation.html#gaa645944027e6f4e405de626910e82d8d">PX_ALIGN_PREFIX</a></div><div class="ttdeci">#define PX_ALIGN_PREFIX(alignment)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:409</div></div>
<div class="ttc" id="namespacephysx_html_a3849f86abc21d3a58949481603fe8309"><div class="ttname"><a href="namespacephysx.html#a3849f86abc21d3a58949481603fe8309">physx::PxU8</a></div><div class="ttdeci">uint8_t PxU8</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:75</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html_ae3563e988889f47d88af9c041409a5c3"><div class="ttname"><a href="structPxArticulationRootLinkData.html#ae3563e988889f47d88af9c041409a5c3">PxArticulationRootLinkData::worldLinVel</a></div><div class="ttdeci">PxVec3 worldLinVel</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:71</div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxArticulationCache_html_a64e8f0b09d6860f91d7a830c11bdddc9"><div class="ttname"><a href="classPxArticulationCache.html#a64e8f0b09d6860f91d7a830c11bdddc9">PxArticulationCache::jointPosition</a></div><div class="ttdeci">PxReal * jointPosition</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:112</div></div>
<div class="ttc" id="classPxArticulationCache_html_a952f509c174636c1c11e8c61bda30eaa"><div class="ttname"><a href="classPxArticulationCache.html#a952f509c174636c1c11e8c61bda30eaa">PxArticulationCache::jointForce</a></div><div class="ttdeci">PxReal * jointForce</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:113</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html_ab1502e0364f2784bb5465415256ac778"><div class="ttname"><a href="structPxArticulationRootLinkData.html#ab1502e0364f2784bb5465415256ac778">PxArticulationRootLinkData::worldAngAccel</a></div><div class="ttdeci">PxVec3 worldAngAccel</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:74</div></div>
<div class="ttc" id="structPxSpatialForce_html_a0c350e4c06721f54057740e212d5c0e3"><div class="ttname"><a href="structPxSpatialForce.html#a0c350e4c06721f54057740e212d5c0e3">PxSpatialForce::torque</a></div><div class="ttdeci">PxVec3 torque</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:51</div></div>
<div class="ttc" id="classPxArticulationCache_html_a9df694963228f4ae0c9e58ca9d6bff02"><div class="ttname"><a href="classPxArticulationCache.html#a9df694963228f4ae0c9e58ca9d6bff02">PxArticulationCache::coefficientMatrix</a></div><div class="ttdeci">PxReal * coefficientMatrix</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:119</div></div>
<div class="ttc" id="PxVec3_8h_html"><div class="ttname"><a href="PxVec3_8h.html">PxVec3.h</a></div></div>
<div class="ttc" id="PxTransform_8h_html"><div class="ttname"><a href="PxTransform_8h.html">PxTransform.h</a></div></div>
<div class="ttc" id="classPxArticulationCache_html_a17beddf109c14739cacb3ddc833ea14e"><div class="ttname"><a href="classPxArticulationCache.html#a17beddf109c14739cacb3ddc833ea14e">PxArticulationCache::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:80</div></div>
<div class="ttc" id="PxSolverDefs_8h_html"><div class="ttname"><a href="PxSolverDefs_8h.html">PxSolverDefs.h</a></div></div>
<div class="ttc" id="classPxArticulationCache_html_a237505e945f16c9afddb3c431f9d6a7b"><div class="ttname"><a href="classPxArticulationCache.html#a237505e945f16c9afddb3c431f9d6a7b">PxArticulationCache::scratchMemory</a></div><div class="ttdeci">void * scratchMemory</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:123</div></div>
<div class="ttc" id="classPxArticulationReducedCoordinate_html_a51b6d2bcecd81b268219e7a5d1d8f10c"><div class="ttname"><a href="classPxArticulationReducedCoordinate.html#a51b6d2bcecd81b268219e7a5d1d8f10c">PxArticulationReducedCoordinate::PxArticulationReducedCoordinate</a></div><div class="ttdeci">PX_INLINE PxArticulationReducedCoordinate(PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:409</div></div>
<div class="ttc" id="classPxArticulationBase_html"><div class="ttname"><a href="classPxArticulationBase.html">PxArticulationBase</a></div><div class="ttdoc">a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...</div><div class="ttdef"><b>Definition:</b> PxArticulationBase.h:56</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags</a></div><div class="ttdoc">Container for bitfield flag variables associated with a specific enum type. </div><div class="ttdef"><b>Definition:</b> PxFlags.h:73</div></div>
<div class="ttc" id="classPxArticulationCache_html_ac5356bfc4c7b57dec9bdd33c698ae96c"><div class="ttname"><a href="classPxArticulationCache.html#ac5356bfc4c7b57dec9bdd33c698ae96c">PxArticulationCache::scratchAllocator</a></div><div class="ttdeci">void * scratchAllocator</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:124</div></div>
<div class="ttc" id="classPxArticulationCache_html_a6bcc917d32fa1a60a671283e0a907e5c"><div class="ttname"><a href="classPxArticulationCache.html#a6bcc917d32fa1a60a671283e0a907e5c">PxArticulationCache::externalForces</a></div><div class="ttdeci">PxSpatialForce * externalForces</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:107</div></div>
<div class="ttc" id="classPxArticulationCache_html_a750cf6f5d426723b6d6cf731bd290ea5"><div class="ttname"><a href="classPxArticulationCache.html#a750cf6f5d426723b6d6cf731bd290ea5">PxArticulationCache::PxArticulationCache</a></div><div class="ttdeci">PxArticulationCache()</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:91</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html"><div class="ttname"><a href="structPxArticulationRootLinkData.html">PxArticulationRootLinkData</a></div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:68</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="structPxArticulationFlag_html_a89b0e25f041302ae04e5cc0b509a7609"><div class="ttname"><a href="structPxArticulationFlag.html#a89b0e25f041302ae04e5cc0b509a7609">PxArticulationFlag::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:280</div></div>
<div class="ttc" id="classPxArticulationCache_html_a91adda674694b0f628a07e4ca89bcec5"><div class="ttname"><a href="classPxArticulationCache.html#a91adda674694b0f628a07e4ca89bcec5">PxArticulationCache::linkVelocity</a></div><div class="ttdeci">PxSpatialVelocity * linkVelocity</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:114</div></div>
<div class="ttc" id="structPxArticulationRootLinkData_html_a31a1563d7d322c9a8898b3ed278e08c1"><div class="ttname"><a href="structPxArticulationRootLinkData.html#a31a1563d7d322c9a8898b3ed278e08c1">PxArticulationRootLinkData::worldAngVel</a></div><div class="ttdeci">PxVec3 worldAngVel</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:72</div></div>
<div class="ttc" id="classPxArticulationCache_html_a40849b1b079c9b0e517fb7eaea488ccf"><div class="ttname"><a href="classPxArticulationCache.html#a40849b1b079c9b0e517fb7eaea488ccf">PxArticulationCache::massMatrix</a></div><div class="ttdeci">PxReal * massMatrix</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:109</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="structPxSpatialVelocity_html"><div class="ttname"><a href="structPxSpatialVelocity.html">PxSpatialVelocity</a></div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:57</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="group__physics_html_gad00ce21229da4335d2cbdee921317aa6"><div class="ttname"><a href="group__physics.html#gad00ce21229da4335d2cbdee921317aa6">PX_ALIGN_SUFFIX</a></div><div class="ttdeci">struct PxArticulationRootLinkData PX_ALIGN_SUFFIX</div></div>
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