Deprecated API

Contents

  • Deprecated Methods
    Method
    Description
    physx.physics.PxArticulationCache.getCoefficientMatrix()
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Constraint coefficient matrix.

    - N = getCoefficentMatrixSize(). - The user needs to allocate memory and set this member to the allocated memory.

    physx.physics.PxArticulationCache.getLambda()
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Constraint lambda values (impulses applied by the respective constraints).

    - N = getNbLoopJoints(). - The user needs to allocate memory and set this member to the allocated memory.

    physx.physics.PxArticulationCache.setCoefficientMatrix(PxRealPtr)
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Constraint coefficient matrix.

    - N = getCoefficentMatrixSize(). - The user needs to allocate memory and set this member to the allocated memory.

    physx.physics.PxArticulationCache.setLambda(PxRealPtr)
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Constraint lambda values (impulses applied by the respective constraints).

    - N = getNbLoopJoints(). - The user needs to allocate memory and set this member to the allocated memory.

    physx.physics.PxArticulationDrive.getMaxForce()
    Will be removed in a future version The drive force limit.

    - The limit is enforced regardless of the drive type #PxArticulationDriveType. - The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.

    Range: [0, PX_MAX_F32]
    Default: 0.0f

    physx.physics.PxArticulationDrive.setMaxForce(float)
    Will be removed in a future version The drive force limit.

    - The limit is enforced regardless of the drive type #PxArticulationDriveType. - The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.

    Range: [0, PX_MAX_F32]
    Default: 0.0f

    physx.physics.PxArticulationReducedCoordinate.addLoopJoint(PxConstraint)
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Adds a loop joint to the articulation system for inverse dynamics.

    physx.physics.PxArticulationReducedCoordinate.computeCoefficientMatrix(PxArticulationCache)
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Computes the coefficient matrix for contact forces.

    - The matrix dimension is getCoefficientMatrixSize() = getDofs() * getNbLoopJoints(), and the DOF (column) indexing follows the internal DOF order, see PxArticulationCache::jointVelocity. - Each column in the matrix is the joint forces effected by a contact based on impulse strength 1. - The user must allocate memory for PxArticulationCache::coefficientMatrix where the required size of the PxReal array is equal to getCoefficientMatrixSize(). - commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

    physx.physics.PxArticulationReducedCoordinate.computeCoriolisAndCentrifugalForce(PxArticulationCache)
    Please use computeCoriolisCompensation instead. It provides a more complete Coriolis and centrifugal compensation force for floating-base articulations.

    Computes the joint DOF forces required to counteract Coriolis and centrifugal forces for the given articulation state.

    - Inputs: Articulation state (joint positions and velocities (in cache), and base transform and spatial velocity). - Outputs: Joint forces to counteract Coriolis and centrifugal forces (in cache).

    - The joint forces returned are determined purely by the articulation's state; i.e. external forces, gravity, and joint accelerations are set to zero. Joint drives and potential damping terms, such as link angular or linear damping, or joint friction, are also not considered in the computation. - Prior to the computation, update/set the base spatial velocity with PxArticulationCache::rootLinkData and applyCache(). - commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

    \param[in,out] cache In: PxArticulationCache::jointVelocity; Out: PxArticulationCache::jointForce.

    Note: This call may only be made on articulations that are in a scene, and may not be made during simulation.

    physx.physics.PxArticulationReducedCoordinate.computeGeneralizedGravityForce(PxArticulationCache)
    Please use computeGravityCompensation instead. It provides a more complete gravity compensation force for floating-base articulations.

    Computes the joint DOF forces required to counteract gravitational forces for the given articulation pose.

    - Inputs: Articulation pose (joint positions + base transform). - Outputs: Joint forces to counteract gravity (in cache).

    - The joint forces returned are determined purely by gravity for the articulation in the current joint and base pose, and joints at rest; i.e. external forces, joint velocities, and joint accelerations are set to zero. Joint drives are also not considered in the computation. - commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

    physx.physics.PxArticulationReducedCoordinate.computeGeneralizedMassMatrix(PxArticulationCache)
    Please use computeMassMatrix instead. It provides a more complete mass matrix for floating-base articulations.

    Compute the joint-space inertia matrix that maps joint accelerations to joint forces: forces = M * accelerations.

    - Inputs: Articulation pose (joint positions and base transform). - Outputs: Mass matrix (in cache).

    commonInit() must be called before the computation, and after setting the articulation pose via applyCache().

    physx.physics.PxArticulationReducedCoordinate.getCoefficientMatrixSize()
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Returns the required size of the coefficient matrix in the articulation.

    physx.physics.PxArticulationReducedCoordinate.getNbLoopJoints()
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Returns the number of loop joints in the articulation for inverse dynamics.

    physx.physics.PxArticulationReducedCoordinate.removeLoopJoint(PxConstraint)
    The API related to loop joints will be removed in a future version once a replacement is made available.

    Removes a loop joint from the articulation for inverse dynamics.

    Note: This call may not be made during simulation.

    physx.physics.PxScene.getFrictionType()
    Since only the patch friction model is supported now, the friction type option is obsolete.
    physx.physics.PxSceneDesc.getFrictionType()
    Since only the patch friction model is supported now, the frictionType parameter is obsolete.

    Default: PxFrictionType::ePATCH

    physx.physics.PxSceneDesc.setFrictionType(PxFrictionTypeEnum)
    Since only the patch friction model is supported now, the frictionType parameter is obsolete.

    Default: PxFrictionType::ePATCH

    physx.physics.PxTriggerPair.getOtherShape()
    physx.physics.PxTriggerPair.setOtherShape(PxShape)