PxArticulationGPUAPIReadType
Defined in include/PxDirectGPUAPI.h
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class PxArticulationGPUAPIReadType
This flag specifies the type of data to get when calling PxDirectGPUAPI::getArticulationData().
Public Types
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enum Enum
Values:
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enumerator eJOINT_POSITION
The joint positions. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eJOINT_VELOCITY
The joint velocities. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eJOINT_ACCELERATION
The joint accelerations. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eJOINT_FORCE
The joint forces or torques applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eJOINT_TARGET_VELOCITY
The velocity targets applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eJOINT_TARGET_POSITION
The position targets applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs.
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enumerator eROOT_GLOBAL_POSE
The root link global pose. 1 PxTransform per articulation. Block size per articulation: 1.
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enumerator eROOT_LINEAR_VELOCITY
The root link linear velocity. 1 PxVec3 per articulation. Block size per articulation: 1.
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enumerator eROOT_ANGULAR_VELOCITY
The root link angular velocity. 1 PxVec3 per articulation. Block size per articulation: 1.
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enumerator eLINK_GLOBAL_POSE
The link global pose including root link. 1 PxTransform per link. Block size per articulation: maxLinks.
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enumerator eLINK_LINEAR_VELOCITY
The link linear velocities including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.
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enumerator eLINK_ANGULAR_VELOCITY
The link angular velocities including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.
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enumerator eLINK_LINEAR_ACCELERATION
The link linear accelerations including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.
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enumerator eLINK_ANGULAR_ACCELERATION
The link angular accelerations including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.
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enumerator eLINK_INCOMING_JOINT_FORCE
The link incoming joint forces including root link. The force is reported in the child joint frame of the link’s incoming joint. 2 PxVec3 per link. The first PxVec3 contains the force, and the second PxVec3 contains the torque. Block size per articulation: maxLinks.
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enumerator eJOINT_POSITION
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enum Enum