PxArticulationSensor
Defined in include/PxArticulationReducedCoordinate.h
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class PxArticulationSensor : public PxBase
A force sensor that can be attached to articulation links to measure spatial force.
Public Functions
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virtual void release() = 0
Releases the sensor.
Note
Releasing a sensor is not allowed while the articulation is in a scene. In order to release a sensor, remove and then re-add the articulation to the scene.
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virtual PxSpatialForce getForces() const = 0
Returns the spatial force in the local frame of the sensor.
See also
Note
This call is not allowed while the simulation is running except in a split simulation during PxScene::collide() and up to PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.
- Returns
The spatial force.
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virtual PxTransform getRelativePose() const = 0
Returns the relative pose between this sensor and the body frame of the link that the sensor is attached to.
The link body frame is at the center of mass and aligned with the principal axes of inertia, see PxRigidBody::getCMassLocalPose.
See also
- Returns
The transform link body frame -> sensor frame.
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virtual void setRelativePose(const PxTransform &pose) = 0
Sets the relative pose between this sensor and the body frame of the link that the sensor is attached to.
The link body frame is at the center of mass and aligned with the principal axes of inertia, see PxRigidBody::getCMassLocalPose.
See also
Note
Setting the sensor relative pose is not allowed while the articulation is in a scene. In order to set the pose, remove and then re-add the articulation to the scene.
- Parameters
pose – [in] The transform link body frame -> sensor frame.
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virtual PxArticulationLink *getLink() const = 0
Returns the link that this sensor is attached to.
- Returns
A pointer to the link.
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virtual PxU32 getIndex() const = 0
Returns the index of this sensor inside the articulation.
The return value is only valid for sensors attached to articulations that are in a scene.
- Returns
The low-level index, or 0xFFFFFFFF if the articulation is not in a scene.
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virtual PxArticulationReducedCoordinate *getArticulation() const = 0
Returns the articulation that this sensor is part of.
- Returns
A pointer to the articulation.
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virtual PxArticulationSensorFlags getFlags() const = 0
Returns the sensor’s flags.
See also
- Returns
The current set of flags of the sensor.
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virtual void setFlag(PxArticulationSensorFlag::Enum flag, bool enabled) = 0
Sets a flag of the sensor.
See also
Note
Setting the sensor flags is not allowed while the articulation is in a scene. In order to set the flags, remove and then re-add the articulation to the scene.
- Parameters
flag – [in] The flag to set.
enabled – [in] The value to set the flag to.
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inline virtual const char *getConcreteTypeName() const
Returns the string name of the dynamic type.
- Returns
The string name.
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inline virtual ~PxArticulationSensor()
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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inline virtual bool isReleasable() const
Whether the object is subordinate.
A class is subordinate, if it can only be instantiated in the context of another class.
See also
- Returns
Whether the class is subordinate
Public Members
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Protected Functions
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inline PxArticulationSensor(PxType concreteType, PxBaseFlags baseFlags)
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inline PxArticulationSensor(PxBaseFlags baseFlags)
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inline virtual bool isKindOf(const char *superClass) const
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const
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virtual void release() = 0