PxArticulationGPUAPIWriteType

Defined in include/PxDirectGPUAPI.h

class PxArticulationGPUAPIWriteType

This flag specifies the type of data to set when calling PxDirectGPUAPI::setArticulationData().

Public Types

enum Enum

Values:

enumerator eJOINT_POSITION

The joint positions. 1 PxReal per dof. Block size per articulation: maxDofs.

enumerator eJOINT_VELOCITY

The joint velocities. 1 PxReal per dof. Block size per articulation: maxDofs.

enumerator eJOINT_FORCE

The applied joint forces or torques. 1 PxReal per dof. Block size per articulation: maxDofs.

enumerator eJOINT_TARGET_VELOCITY

The velocity targets for the joint drives. 1 PxReal per dof. Block size per articulation: maxDofs.

enumerator eJOINT_TARGET_POSITION

The position targets for the joint drives. 1 PxReal per dof. Block size per articulation: maxDofs.

enumerator eROOT_GLOBAL_POSE

The root link transform. 1 PxTransform per articulation. Block size per articulation: 1.

enumerator eROOT_LINEAR_VELOCITY

The root link linear velocity. 1 PxVec3 per articulation. Block size per articulation: 1.

enumerator eROOT_ANGULAR_VELOCITY

The root link angular velocity. 1 PxVec3 per articulation. Block size per articulation: 1.

enumerator eLINK_FORCE

The forces to apply to links. 1 PxVec3 per link. Block size per articulation: maxLinks.

enumerator eLINK_TORQUE

The torques to apply to links. 1 PxVec3 per link. Block size per articulation: maxLinks.

enumerator eFIXED_TENDON

Fixed tendon data. 1 PxGpuFixedTendonData per fixed tendon. Block size per articulation: maxFixedTendons.

enumerator eFIXED_TENDON_JOINT

Fixed tendon joint data. 1 PxGpuTendonJointCoefficientData per fixed tendon joint. Block size per articulation: maxFixedTendons * maxFixedTendonJoints.

enumerator eSPATIAL_TENDON

Spatial tendon data. 1 PxGpuSpatialTendonData per spatial tendon. Block size per articulation: maxSpatialTendons.

enumerator eSPATIAL_TENDON_ATTACHMENT

Spatial tendon attachment data. 1 PxGpuTendonAttachmentData per spatial tendon attachment. Block size per articulation: maxSpatialTendons * maxSpatialTendonAttachments.