PxArticulationGPUAPIReadType

Defined in include/PxDirectGPUAPI.h

class PxArticulationGPUAPIReadType

This flag specifies the type of data to get when calling PxDirectGPUAPI::getArticulationData().

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_ACCELERATION

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

enumerator eJOINT_FORCE

The joint forces or torques applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eJOINT_TARGET_VELOCITY

The velocity targets applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eJOINT_TARGET_POSITION

The position targets applied using setArticulationData. 1 PxReal per dof. Block size per articulation: maxDofs. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eROOT_GLOBAL_POSE

The root link global pose. 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_GLOBAL_POSE

The link global pose including root link. 1 PxTransform per link. Block size per articulation: maxLinks.

enumerator eLINK_LINEAR_VELOCITY

The link linear velocities including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.

enumerator eLINK_ANGULAR_VELOCITY

The link angular velocities including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.

enumerator eLINK_LINEAR_ACCELERATION

The link linear accelerations including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.

enumerator eLINK_ANGULAR_ACCELERATION

The link angular accelerations including root link. 1 PxVec3 per link. Block size per articulation: maxLinks.

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.

enumerator eFIXED_TENDON

Fixed tendon data. 1 PxGpuFixedTendonData per fixed tendon. Block size per articulation: maxFixedTendons. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eFIXED_TENDON_JOINT

Fixed tendon joint data. 1 PxGpuTendonJointCoefficientData per fixed tendon joint. Block size per articulation: maxFixedTendons * maxFixedTendonJoints. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eSPATIAL_TENDON

Spatial tendon data. 1 PxGpuSpatialTendonData per spatial tendon. Block size per articulation: maxSpatialTendons. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().

enumerator eSPATIAL_TENDON_ATTACHMENT

Spatial tendon attachment data. 1 PxGpuTendonAttachmentData per spatial tendon attachment. Block size per articulation: maxSpatialTendons * maxSpatialTendonAttachments. Not updated by the simulation, will return the values set by PxDirectGPUAPI::setArticulationData().