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()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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.

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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.

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

Returns:: The relative offset in the link actor frame.

virtual void setCoefficient(const PxReal coefficient) = 0#

Sets the attachment coefficient.

See also

getCoefficient()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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()

Note

This method should not be used after the direct GPU API has been enabled and initialized. See PxDirectGPUAPI for the details.

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#