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

getStiffness()

Parameters:

stiffness – [in] The spring stiffness. Default: 0

virtual PxReal getStiffness() const = 0

Gets the spring stiffness of the tendon.

See also

setStiffness()

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

getDamping()

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

setDamping()

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

getLimitStiffness()

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

setLimitStiffness()

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

getOffset()

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

setOffset()

Returns:

The offset term.

virtual PxArticulationReducedCoordinate *getArticulation() const = 0

Gets the articulation that the tendon is a part of.

See also

PxArticulationReducedCoordinate

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.

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 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

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount