PxArticulationAttachment

Defined in include/PxArticulationTendon.h

class PxArticulationAttachment

Defines a spatial tendon attachment point on a link.

Public Functions

inline virtual ~PxArticulationAttachment()

virtual void setRestLength(const PxReal restLength) = 0

Sets the spring rest length for the sub-tendon from the root to this leaf attachment.

Setting this on non-leaf attachments has no effect.

See also

getRestLength(), isLeaf()

Parameters: restLength – [in] The rest length of the spring. Default: 0

virtual PxReal getRestLength() const = 0

Gets the spring rest length for the sub-tendon from the root to this leaf attachment.

See also

setRestLength()

Returns: The rest length.

virtual void setLimitParameters(const PxArticulationTendonLimit &parameters) = 0

Sets the low and high limit on the length of the sub-tendon from the root to this leaf attachment.

Setting this on non-leaf attachments has no effect.

Parameters: parameters – [in] Struct with the low and high limit. Default: (PX_MAX_F32, -PX_MAX_F32) (i.e. an invalid configuration that can only work if stiffness is zero)

virtual PxArticulationTendonLimit getLimitParameters() const = 0

Gets the low and high limit on the length of the sub-tendon from the root to this leaf attachment.

Returns: Struct with the low and high limit.

virtual void setRelativeOffset(const PxVec3 &offset) = 0

Sets the attachment’s relative offset in the link actor frame.

See also

getRelativeOffset()

Parameters: offset – [in] The relative offset in the link actor frame.

virtual PxVec3 getRelativeOffset() const = 0

Gets the attachment’s relative offset in the link actor frame.

See also

setRelativeOffset()

Returns: The relative offset in the link actor frame.

virtual void setCoefficient(const PxReal coefficient) = 0

Sets the attachment coefficient.

See also

getCoefficient()

Parameters: coefficient – [in] The scale that the distance between this attachment and its parent is multiplied by when summing up the spatial tendon’s length.

virtual PxReal getCoefficient() const = 0

Gets the attachment coefficient.

See also

setCoefficient()

Returns: The scale that the distance between this attachment and its parent is multiplied by when summing up the spatial tendon’s length.

virtual PxArticulationLink *getLink() const = 0

Gets the articulation link.

Returns: The articulation link that this attachment is attached to.

virtual PxArticulationAttachment *getParent() const = 0

Gets the parent attachment.

Returns: The parent attachment.

virtual bool isLeaf() const = 0

Indicates that this attachment is a leaf, and thus defines a sub-tendon from the root to this attachment.

Returns: True: This attachment is a leaf and has zero children; False: Not a leaf.

virtual PxArticulationSpatialTendon *getTendon() const = 0

Gets the spatial tendon that the attachment is a part of.

See also

PxArticulationSpatialTendon

Returns: The tendon.

virtual void release() = 0

Releases the attachment.

Note

Releasing the attachment is not allowed while the articulation is in a scene. In order to release the attachment, remove and then re-add the articulation to the scene.

Public Members

void *userData: user can assign this to whatever, usually to create a 1:1 relationship with a user object.