PxArticulationTendonJoint
Defined in include/PxArticulationTendon.h
-
class PxArticulationTendonJoint : public PxBase
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
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
- 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
- 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.
-
inline virtual const char *getConcreteTypeName() const
Returns the string name of the dynamic type.
- Returns
The string name.
-
inline PxType getConcreteType() const
Returns concrete type of object.
See also
- 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
- 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 PxArticulationTendonJoint(PxType concreteType, PxBaseFlags baseFlags)
-
inline PxArticulationTendonJoint(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
-
inline virtual ~PxArticulationTendonJoint()