PxArticulationTendonJoint

Defined in include/PxArticulationTendon.h

class PxArticulationTendonJoint

Defines a fixed-tendon joint on an articulation joint degree of freedom.

Public Functions

inline virtual ~PxArticulationTendonJoint()

virtual void setCoefficient(const PxArticulationAxis::Enum axis, const PxReal coefficient, const PxReal recipCoefficient) = 0

Sets the tendon joint coefficient.

See also

getCoefficient()

Note

RecipCoefficient is commonly expected to be 1/coefficient, but it can be set to different values to tune behavior; for example, zero can be used to have a joint axis only participate in the length computation of the tendon, but not have any tendon force applied to it.

Parameters

axis – [in] The degree of freedom that the tendon joint operates on (must correspond to a degree of freedom of the associated link’s incoming joint).
coefficient – [in] The scale that the axis’ joint position is multiplied by when summing up the fixed tendon’s length.
recipCoefficient – [in] The scale that the tendon’s response is multiplied by when applying to this tendon joint.

virtual void getCoefficient(PxArticulationAxis::Enum &axis, PxReal &coefficient, PxReal &recipCoefficient) const = 0

Gets the tendon joint coefficient.

See also

setCoefficient()

Parameters

axis – [out] The degree of freedom that the tendon joint operates on.
coefficient – [out] The scale that the axis’ joint position is multiplied by when summing up the fixed tendon’s length.
recipCoefficient – [in] The scale that the tendon’s response is multiplied by when applying to this tendon joint.

virtual PxArticulationLink *getLink() const = 0

Gets the articulation link.

Returns: The articulation link (and its incoming joint in particular) that this tendon joint is associated with.

virtual PxArticulationTendonJoint *getParent() const = 0

Gets the parent tendon joint.

Returns: The parent tendon joint.

virtual PxArticulationFixedTendon *getTendon() const = 0

Gets the tendon that the joint is a part of.

See also

PxArticulationFixedTendon

Returns: The tendon.

virtual void release() = 0

Releases a tendon joint.

Note

Releasing a tendon joint is not allowed while the articulation is in a scene. In order to release the joint, 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.