PxArticulationAttachment#

Defined in include/PxArticulationTendon.h

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.

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.

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.

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 final override#

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#