PxArticulationAttachment
Defined in include/PxArticulationTendon.h
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class PxArticulationAttachment : public PxBase
Defines a spatial tendon attachment point on a link.
Public Functions
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inline virtual ~PxArticulationAttachment()
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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
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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.
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virtual void setLimitParameters(const PxArticulationTendonLimit ¶meters) = 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)
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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.
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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.
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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.
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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.
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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.
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virtual PxArticulationLink *getLink() const = 0
Gets the articulation link.
- Returns
The articulation link that this attachment is attached to.
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virtual PxArticulationAttachment *getParent() const = 0
Gets the parent attachment.
- Returns
The parent attachment.
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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.
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virtual PxArticulationSpatialTendon *getTendon() const = 0
Gets the spatial tendon that the attachment is a part of.
See also
PxArticulationSpatialTendon
- Returns
The tendon.
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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.
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inline virtual const char *getConcreteTypeName() const
Returns the string name of the dynamic type.
- Returns
The string name.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
PxConcreteType
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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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
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Protected Functions
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inline PxArticulationAttachment(PxType concreteType, PxBaseFlags baseFlags)
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inline PxArticulationAttachment(PxBaseFlags baseFlags)
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inline virtual bool isKindOf(const char *superClass) const
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const
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inline virtual ~PxArticulationAttachment()