DcArticulation

Fully qualified name: omni::isaac::dynamic_control::DcArticulation

struct DcArticulation

Represents an articulation in the physics simulation.

Contains all the information needed to represent and manipulate an articulation, including its PhysX representation, name, path, and relationships to other objects. An articulation is a collection of rigid bodies connected by joints.

Public Functions

inline size_t numRigidBodies() const

Gets the number of rigid bodies in this articulation.

Returns:

The number of rigid bodies

inline size_t numJoints() const

Gets the number of joints in this articulation.

Returns:

The number of joints

inline size_t numDofs() const

Gets the number of degrees of freedom in this articulation.

Returns:

The number of degrees of freedom

bool refreshCache(

const ::physx::PxArticulationCacheFlags &flags = ::physx::PxArticulationCacheFlag::eALL,

) const

Refreshes the PhysX articulation cache.

Parameters:

flags – [in] Flags indicating which parts of the cache to refresh

Returns:

True if successful, false otherwise

Public Members

DcHandle handle = kDcInvalidHandle

Handle to this articulation.

DcContext *ctx = nullptr

Pointer to the context this articulation belongs to.

::physx::PxArticulationReducedCoordinate *pxArticulation = nullptr

Pointer to the PhysX articulation.

std::string name

Name of the articulation.

pxr::SdfPath path

USD path of the articulation.

std::set<pxr::SdfPath> componentPaths

USD paths of the components of this articulation.

std::vector<DcRigidBody*> rigidBodies

Handles to the rigid bodies in this articulation.

std::vector<DcJoint*> joints

Handles to the joints in this articulation.

std::vector<DcDof*> dofs

Handles to the degrees of freedom in this articulation.

std::map<std::string, DcRigidBody*> rigidBodyMap

Map from rigid body names to handles.

std::map<std::string, DcJoint*> jointMap

Map from joint names to handles.

std::map<std::string, DcDof*> dofMap

Map from degree of freedom names to handles.

mutable ::physx::PxArticulationCache *pxArticulationCache = nullptr

Pointer to the PhysX articulation cache.

mutable int64_t cacheAge = -1

Age of the cache, used to determine when to refresh.

mutable std::vector<DcRigidBodyState> rigidBodyStateCache

Cache of rigid body states.

mutable std::vector<DcDofState> dofStateCache

Cache of degree of freedom states.