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.

Note

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

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()

Note

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

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