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

getCoefficient()

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

setCoefficient()

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

PxArticulationFixedTendon

Returns:

The tendon.

virtual void release() = 0

Releases a tendon joint.

See also

PxArticulationFixedTendon::createTendonJoint()

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 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 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

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount