PxArticulationTendon
Defined in include/PxArticulationTendon.h
-
class PxArticulationTendon : public PxBase
Common API base class shared by PxArticulationSpatialTendon and PxArticulationFixedTendon.
Subclassed by PxArticulationFixedTendon, PxArticulationSpatialTendon
Public Functions
-
virtual void setStiffness(const PxReal stiffness) = 0
Sets the spring stiffness term acting on the tendon length.
See also
- Parameters
stiffness – [in] The spring stiffness. Default: 0
-
virtual PxReal getStiffness() const = 0
Gets the spring stiffness of the tendon.
See also
- Returns
The spring stiffness.
-
virtual void setDamping(const PxReal damping) = 0
Sets the damping term acting both on the tendon length and tendon-length limits.
See also
- Parameters
damping – [in] The damping term. Default: 0
-
virtual PxReal getDamping() const = 0
Gets the damping term acting both on the tendon length and tendon-length limits.
See also
- Returns
The damping term.
-
virtual void setLimitStiffness(const PxReal stiffness) = 0
Sets the limit stiffness term acting on the tendon’s length limits.
For spatial tendons, this parameter applies to all its leaf attachments / sub-tendons.
See also
- Parameters
stiffness – [in] The limit stiffness term. Default: 0
-
virtual PxReal getLimitStiffness() const = 0
Gets the limit stiffness term acting on the tendon’s length limits.
For spatial tendons, this parameter applies to all its leaf attachments / sub-tendons.
See also
- Returns
The limit stiffness term.
-
virtual void setOffset(const PxReal offset, bool autowake = true) = 0
Sets the length offset term for the tendon.
An offset defines an amount to be added to the accumulated length computed for the tendon. It allows the application to actuate the tendon by shortening or lengthening it.
See also
- Parameters
offset – [in] The offset term. Default: 0
autowake – [in] If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.
-
virtual PxReal getOffset() const = 0
Gets the length offset term for the tendon.
See also
- Returns
The offset term.
-
virtual PxArticulationReducedCoordinate *getArticulation() const = 0
Gets the articulation that the tendon is a part of.
See also
- Returns
The articulation.
-
virtual void release() = 0
Releases a tendon to remove it from the articulation and free its associated memory.
When an articulation is released, its attached tendons are automatically released.
Note
Releasing a tendon is not allowed while the articulation is in a scene. In order to release the tendon, remove and then re-add the articulation to the scene.
-
inline virtual ~PxArticulationTendon()
-
virtual const char *getConcreteTypeName() const = 0
Returns string name of dynamic type.
- Returns
Class name of most derived type of this object.
-
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 PxArticulationTendon(PxType concreteType, PxBaseFlags baseFlags)
-
inline PxArticulationTendon(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
-
virtual void setStiffness(const PxReal stiffness) = 0