public void copyInternalStateToCache(physx.PxArticulationCachePtr cache, physx.PxArticulationCacheFlagsPtr flag)
{
physx.PxArticulationReducedCoordinatePtr pvk_in_this = this;
physx.PxArticulationCachePtr pvk_in_cache = cache;
physx.PxArticulationCacheFlagsPtr pvk_in_flag = flag;
void_const_PxArticulationReducedCoordinatePtr_copyInternalStateToCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_C(pvk_in_this, pvk_in_cache, pvk_in_flag);
}
public void applyCache(physx.PxArticulationCachePtr cache, physx.PxArticulationCacheFlagsPtr flag)
{
physx.PxArticulationReducedCoordinatePtr pvk_in_this = this;
physx.PxArticulationCachePtr pvk_in_cache = cache;
physx.PxArticulationCacheFlagsPtr pvk_in_flag = flag;
void_PxArticulationReducedCoordinatePtr_applyCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_C(pvk_in_this, pvk_in_cache, pvk_in_flag);
}
public void computeKinematicJacobian(uint linkID, physx.PxArticulationCachePtr cache)
{
physx.PxArticulationReducedCoordinatePtr pvk_in_this = this;
uint pvk_in_linkID = linkID;
physx.PxArticulationCachePtr pvk_in_cache = cache;
void_const_PxArticulationReducedCoordinatePtr_computeKinematicJacobianPtr_uint_PxArticulationCachePtrC_(pvk_in_this, pvk_in_linkID, pvk_in_cache);
}
public void applyCache(physx.PxArticulationCachePtr cache, physx.PxArticulationCacheFlagsPtr flag, bool autowake = true)
{
physx.PxArticulationReducedCoordinatePtr pvk_in_this = this;
physx.PxArticulationCachePtr pvk_in_cache = cache;
physx.PxArticulationCacheFlagsPtr pvk_in_flag = flag;
bool pvk_in_autowake = autowake;
void_PxArticulationReducedCoordinatePtr_applyCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_bool_C_(pvk_in_this, pvk_in_cache, pvk_in_flag, pvk_in_autowake);
}
public bool computeLambda(physx.PxArticulationCachePtr cache, physx.PxArticulationCachePtr initialState, float *jointTorque, uint maxIter)
{
physx.PxArticulationReducedCoordinatePtr pvk_in_this = this;
physx.PxArticulationCachePtr pvk_in_cache = cache;
physx.PxArticulationCachePtr pvk_in_initialState = initialState;
float *pvk_in_jointTorque = jointTorque;
uint pvk_in_maxIter = maxIter;
return(bool_const_PxArticulationReducedCoordinatePtr_computeLambdaPtr_PxArticulationCachePtr_PxArticulationCachePtr_float_uint_CC(pvk_in_this, pvk_in_cache, pvk_in_initialState, pvk_in_jointTorque, pvk_in_maxIter));
}
internal static extern float *PxArticulationCachePtr_GET_jointAcceleration(physx.PxArticulationCachePtr cls);
internal static extern float *PxArticulationCachePtr_GET_jointVelocity(physx.PxArticulationCachePtr cls);
internal static extern float *PxArticulationCachePtr_GET_massMatrix(physx.PxArticulationCachePtr cls);
internal static extern physx.PxKinematicJacobianPtr PxArticulationCachePtr_GET_jacobian(physx.PxArticulationCachePtr cls);
internal static extern void void_PxArticulationReducedCoordinatePtr_applyCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_C(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache, physx.PxArticulationCacheFlagsPtr pvk_flag);
internal static extern bool bool_const_PxArticulationReducedCoordinatePtr_computeLambdaPtr_PxArticulationCachePtr_PxArticulationCachePtr_float_uint_CC(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache, physx.PxArticulationCachePtr pvk_initialState, float *pvk_jointTorque, uint pvk_maxIter);
internal static extern uint PxArticulationCachePtr_GET_version(physx.PxArticulationCachePtr cls);
internal static extern void PxArticulationCachePtr_SET_scratchAllocator(physx.PxArticulationCachePtr cls, IntPtr value);
internal static extern IntPtr PxArticulationCachePtr_GET_scratchAllocator(physx.PxArticulationCachePtr cls);
internal static extern void PxArticulationCachePtr_SET_scratchMemory(physx.PxArticulationCachePtr cls, IntPtr value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_computeKinematicJacobianPtr_uint_PxArticulationCachePtrC_(physx.PxArticulationReducedCoordinatePtr pvk_this, uint pvk_linkID, physx.PxArticulationCachePtr pvk_cache);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_computeCoefficentMatrixPtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
internal static extern void PxArticulationCachePtr_SET_version(physx.PxArticulationCachePtr cls, uint value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_computeGeneralizedMassMatrixPtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
internal static extern void void_PxArticulationReducedCoordinatePtr_zeroCachePtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
internal static extern void Freer_physx_PxArticulationCachePtr(physx.PxArticulationCachePtr ptr);
internal static extern void void_PxArticulationReducedCoordinatePtr_applyCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_bool_C_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache, physx.PxArticulationCacheFlagsPtr pvk_flag, bool pvk_autowake);
internal static extern void PxArticulationCachePtr_SET_jacobian(physx.PxArticulationCachePtr cls, physx.PxKinematicJacobianPtr value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_copyInternalStateToCachePtr_PxArticulationCachePtr_PxArticulationCacheFlagsPtr_C(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache, physx.PxArticulationCacheFlagsPtr pvk_flag);
internal static extern void PxArticulationCachePtr_SET_massMatrix(physx.PxArticulationCachePtr cls, float *value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_releaseCachePtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
internal static extern void PxArticulationCachePtr_SET_jointVelocity(physx.PxArticulationCachePtr cls, float *value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_computeCoriolisAndCentrifugalForcePtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
internal static extern void PxArticulationCachePtr_SET_jointAcceleration(physx.PxArticulationCachePtr cls, float *value);
internal static extern void void_const_PxArticulationReducedCoordinatePtr_computeJointForcePtr_PxArticulationCachePtr_(physx.PxArticulationReducedCoordinatePtr pvk_this, physx.PxArticulationCachePtr pvk_cache);
