PxArticulationAttachment

Defined in include/PxArticulationTendon.h

Inheritance Relationships

Base Type

• public PxBase (PxBase)

class PxArticulationAttachment : public PxBase

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.

See also

PxArticulationTendonLimit, getLimitParameters(), isLeaf()

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.

See also

PxArticulationTendonLimit, setLimitParameters()

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.

See also

PxArticulationSpatialTendon::createAttachment()

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.

inline virtual const char *getConcreteTypeName() const

Returns the string name of the dynamic type.

Returns

The string name.

template<class T>
inline T *is()

template<class T>
inline const T *is() const

inline PxType getConcreteType() const

Returns concrete type of object.

See also

PxConcreteType

Returns

PxConcreteType::Enum of serialized object

inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)

Set PxBaseFlag

Parameters

• flag – [in] The flag to be set

• value – [in] The flags new value

inline void setBaseFlags(PxBaseFlags inFlags)

Set PxBaseFlags

See also

PxBaseFlags

Parameters

inFlags – [in] The flags to be set

inline PxBaseFlags getBaseFlags() const

Returns PxBaseFlags.

See also

PxBaseFlags

Returns

PxBaseFlags

inline virtual bool isReleasable() const

Whether the object is subordinate.

A class is subordinate, if it can only be instantiated in the context of another class.

See also

PxSerialization::isSerializable

Returns

Whether the class is subordinate

Public Members

void *userData

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

Protected Functions

inline PxArticulationAttachment(PxType concreteType, PxBaseFlags baseFlags)

inline PxArticulationAttachment(PxBaseFlags baseFlags)

inline virtual bool isKindOf(const char *superClass) const

Returns whether a given type name matches with the type of this instance.

template<class T>
inline bool typeMatch() const

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount