Inheritance diagram for physx::NpArticulationFixedTendon:

Collaboration diagram for physx::NpArticulationFixedTendon:

Public Member Functions
	NpArticulationFixedTendon (PxBaseFlags baseFlags)

void	preExportDataReset ()

virtual void	exportExtraData (PxSerializationContext &)

void	importExtraData (PxDeserializationContext &)

void	resolveReferences (PxDeserializationContext &)

virtual void	requiresObjects (PxProcessPxBaseCallback &)

virtual bool	isSubordinate () const

	NpArticulationFixedTendon (NpArticulationReducedCoordinate *articulation)

virtual PxArticulationTendonJoint *	createTendonJoint (PxArticulationTendonJoint parent, PxArticulationAxis::Enum axis, const PxReal scale, const PxReal recipScale, PxArticulationLink link)
	Creates an articulation tendon joint and adds it to the list of children in the parent tendon joint.

NpArticulationTendonJoint *	getTendonJoint (const PxU32 index)

virtual PxU32	getTendonJoints (PxArticulationTendonJoint **userBuffer, PxU32 bufferSize, PxU32 startIndex) const
	Fills a user-provided buffer of tendon-joint pointers with the set of tendon joints.

virtual PxU32	getNbTendonJoints (void) const
	Returns the number of tendon joints in the tendon.

virtual void	setStiffness (const PxReal stiffness)
	Sets the spring stiffness term acting on the tendon length.

virtual PxReal	getStiffness () const
	Gets the spring stiffness of the tendon.

virtual void	setDamping (const PxReal damping)
	Sets the damping term acting both on the tendon length and tendon-length limits.

virtual PxReal	getDamping () const
	Gets the damping term acting both on the tendon length and tendon-length limits.

virtual void	setLimitStiffness (const PxReal damping)
	Sets the limit stiffness term acting on the tendon's length limits.

virtual PxReal	getLimitStiffness () const
	Gets the limit stiffness term acting on the tendon's length limits.

virtual void	setRestLength (const PxReal restLength)
	Sets the spring rest length of the tendon.

virtual PxReal	getRestLength () const
	Gets the spring rest length of the tendon.

virtual void	setLimitParameters (const PxArticulationTendonLimit &paramters)
	Sets the low and high limit on the length of the tendon.

virtual PxArticulationTendonLimit	getLimitParameters () const
	Gets the low and high limit on the length of the tendon.

virtual void	setOffset (const PxReal offset, bool autowake=true)
	Sets the length offset term for the tendon.

virtual PxReal	getOffset () const
	Gets the length offset term for the tendon.

virtual PxArticulationReducedCoordinate *	getArticulation () const
	Gets the articulation that the tendon is a part of.

virtual void	release ()
	Releases a tendon to remove it from the articulation and free its associated memory.

PX_FORCE_INLINE ArticulationTendonHandle	getHandle ()

PX_FORCE_INLINE void	setHandle (ArticulationTendonHandle handle)

PX_FORCE_INLINE Sc::ArticulationFixedTendonCore &	getTendonCore ()

PX_FORCE_INLINE NpArticulationTendonJointArray &	getTendonJoints ()

Public Member Functions inherited from physx::PxArticulationFixedTendon
virtual const char *	getConcreteTypeName () const
	Returns the string name of the dynamic type.

Public Member Functions inherited from physx::PxBase
template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object.

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags.

virtual bool	isReleasable () const
	Whether the object is subordinate.

Public Member Functions inherited from physx::NpBase
	NpBase (const PxEMPTY)

	NpBase (NpType::Enum type)

PX_INLINE bool	isAPIWriteForbidden () const

PX_INLINE bool	isAPIWriteForbiddenExceptSplitSim () const

PX_FORCE_INLINE NpType::Enum	getNpType () const

PX_FORCE_INLINE void	setNpScene (NpScene *scene)

PX_FORCE_INLINE NpScene *	getNpScene () const

PX_FORCE_INLINE PxU32	getBaseIndex () const

PX_FORCE_INLINE void	setBaseIndex (PxU32 index)

Public Member Functions inherited from physx::PxUserAllocated
PX_INLINE void *	operator new (size_t, void *address)

PX_INLINE void	operator delete (void , void )

template<typename Alloc >
PX_INLINE void *	operator new (size_t size, Alloc alloc, const char *fileName, int line)

template<typename Alloc >
PX_INLINE void *	operator new (size_t size, size_t, Alloc alloc, const char *fileName, int line)

template<typename Alloc >
PX_INLINE void *	operator new[] (size_t size, Alloc alloc, const char *fileName, int line)

template<typename Alloc >
PX_INLINE void *	operator new[] (size_t size, size_t, Alloc alloc, const char *fileName, int line)

template<typename Alloc >
PX_INLINE void	operator delete (void ptr, Alloc alloc, const char fileName, int line)

template<typename Alloc >
PX_INLINE void	operator delete[] (void ptr, Alloc alloc, const char fileName, int line)

PX_INLINE void	operator delete (void *ptr)

PX_INLINE void	operator delete[] (void *ptr)

Static Public Member Functions
static NpArticulationFixedTendon *	createObject (PxU8 *&address, PxDeserializationContext &context)

static void	getBinaryMetaData (PxOutputStream &stream)

Static Public Member Functions inherited from physx::NpBase
static void	getBinaryMetaData (PxOutputStream &stream)

Additional Inherited Members
Public Attributes inherited from physx::PxArticulationTendon
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Member Functions inherited from physx::PxArticulationFixedTendon
PX_INLINE	PxArticulationFixedTendon (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationFixedTendon (PxBaseFlags baseFlags)

Protected Member Functions inherited from physx::PxArticulationTendon
PX_INLINE	PxArticulationTendon (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationTendon (PxBaseFlags baseFlags)

Protected Member Functions inherited from physx::PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags.

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags.

virtual	~PxBase ()
	Destructor.

virtual bool	isKindOf (const char *superClass) const
	Returns whether a given type name matches with the type of this instance.

template<class T >
bool	typeMatch () const

Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Protected Attributes inherited from physx::NpBase
PxU32	mFreeSlot

Member Function Documentation

◆ createTendonJoint()

PxArticulationTendonJoint * NpArticulationFixedTendon::createTendonJoint	(	PxArticulationTendonJoint *	parent,
		PxArticulationAxis::Enum	axis,
		const PxReal	coefficient,
		const PxReal	recipCoefficient,
		PxArticulationLink *	link
	)

virtual

Creates an articulation tendon joint and adds it to the list of children in the parent tendon joint.

Creating a tendon joint is not allowed while the articulation is in a scene. In order to add the joint, remove and then re-add the articulation to the scene.

Parameters

[in]	parent	The parent tendon joint. Can be NULL for the root tendon joint of a tendon.
[in]	axis	The degree of freedom that this tendon joint is associated with.
[in]	coefficient	A user-defined scale that the accumulated tendon length is scaled by.
[in]	recipCoefficient	The scale that the tendon's response is multiplied by when applying to this tendon joint.
[in]	link	The link (and the link's incoming joint in particular) that this tendon joint is associated with.

Returns: The newly-created tendon joint if creation was successful, otherwise a null pointer.

Note

The axis motion must not be configured as PxArticulationMotion::eLOCKED.
The axis cannot be part of a fixed joint, i.e. joint configured as PxArticulationJointType::eFIX.

See also: PxArticulationTendonJoint PxArticulationAxis

Implements physx::PxArticulationFixedTendon.

◆ getArticulation()

PxArticulationReducedCoordinate * physx::NpArticulationFixedTendon::getArticulation ( ) const

virtual

Gets the articulation that the tendon is a part of.

Returns: The articulation.

See also: PxArticulationReducedCoordinate

Implements physx::PxArticulationTendon.

◆ getDamping()

PxReal NpArticulationFixedTendon::getDamping ( ) const

virtual

Gets the damping term acting both on the tendon length and tendon-length limits.

Returns: The damping term.

See also: setDamping()

Implements physx::PxArticulationTendon.

◆ getLimitParameters()

PxArticulationTendonLimit NpArticulationFixedTendon::getLimitParameters ( ) const

virtual

Gets the low and high limit on the length of the tendon.

Returns: Struct with the low and high limit.

See also: PxArticulationTendonLimit setLimitParameters()

Implements physx::PxArticulationFixedTendon.

◆ getLimitStiffness()

PxReal NpArticulationFixedTendon::getLimitStiffness ( ) const

virtual

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.

Returns: The limit stiffness term.

See also: setLimitStiffness()

Implements physx::PxArticulationTendon.

◆ getNbTendonJoints()

PxU32 NpArticulationFixedTendon::getNbTendonJoints ( void ) const

virtual

Returns the number of tendon joints in the tendon.

Returns: The number of tendon joints.

Implements physx::PxArticulationFixedTendon.

◆ getOffset()

PxReal NpArticulationFixedTendon::getOffset ( ) const

virtual

Gets the length offset term for the tendon.

Returns: The offset term.

See also: setOffset()

Implements physx::PxArticulationTendon.

◆ getRestLength()

PxReal NpArticulationFixedTendon::getRestLength ( ) const

virtual

Gets the spring rest length of the tendon.

Returns: The spring rest length of the tendon.

See also: setRestLength()

Implements physx::PxArticulationFixedTendon.

◆ getStiffness()

PxReal NpArticulationFixedTendon::getStiffness ( ) const

virtual

Gets the spring stiffness of the tendon.

Returns: The spring stiffness.

See also: setStiffness()

Implements physx::PxArticulationTendon.

◆ getTendonJoints()

PxU32 NpArticulationFixedTendon::getTendonJoints	(	PxArticulationTendonJoint **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex
	)		const

virtual

Fills a user-provided buffer of tendon-joint pointers with the set of tendon joints.

Parameters

[in]	userBuffer	The user-provided buffer.
[in]	bufferSize	The size of the buffer. If this is not large enough to contain all the pointers to tendon joints, only as many as can fit are written. Use getNbTendonJoints to size for all tendon joints.
[in]	startIndex	Index of first tendon joint pointer to be retrieved.

Returns: The number of tendon joints filled into the user buffer.

See also: getNbTendonJoints

Implements physx::PxArticulationFixedTendon.

◆ release()

void NpArticulationFixedTendon::release ( )

virtual

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.

Implements physx::PxArticulationTendon.

◆ setDamping()

void NpArticulationFixedTendon::setDamping ( const PxReal damping )

virtual

Sets the damping term acting both on the tendon length and tendon-length limits.

Parameters

[in] damping The damping term. Default: 0

See also: getDamping()

Implements physx::PxArticulationTendon.

◆ setLimitParameters()

void NpArticulationFixedTendon::setLimitParameters ( const PxArticulationTendonLimit & parameter )

virtual

Sets the low and high limit on the length of the tendon.

Parameters

[in] parameter Struct with the low and high limit.

The limits, together with the damping and limit stiffness parameters, act on the accumulated length of the tendon.

See also: PxArticulationTendonLimit getLimitParameters() setRestLength()

Implements physx::PxArticulationFixedTendon.

◆ setLimitStiffness()

void NpArticulationFixedTendon::setLimitStiffness ( const PxReal stiffness )

virtual

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.

Parameters

[in] stiffness The limit stiffness term. Default: 0

See also: getLimitStiffness()

Implements physx::PxArticulationTendon.

◆ setOffset()

void NpArticulationFixedTendon::setOffset	(	const PxReal	offset,
		bool	autowake = `true`
	)

virtual

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.

Parameters

[in]	offset	The offset term. Default: 0
[in]	autowake	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.

See also: getOffset()

Implements physx::PxArticulationTendon.

◆ setRestLength()

void NpArticulationFixedTendon::setRestLength ( const PxReal restLength )

virtual

Sets the spring rest length of the tendon.

The accumulated "length" of a fixed tendon is a linear combination of the joint axis positions that the tendon is associated with, scaled by the respective tendon joints' coefficients. As such, when the joint positions of all joints are zero, the accumulated length of a fixed tendon is zero.

The spring of the tendon is not exerting any force on the articulation when the rest length is equal to the tendon's accumulated length plus the tendon offset.

Parameters

[in] restLength The spring rest length of the tendon.

See also: getRestLength()

Implements physx::PxArticulationFixedTendon.

◆ setStiffness()

void NpArticulationFixedTendon::setStiffness ( const PxReal stiffness )

virtual

Sets the spring stiffness term acting on the tendon length.

Parameters

[in] stiffness The spring stiffness. Default: 0

See also: getStiffness()

Implements physx::PxArticulationTendon.

The documentation for this class was generated from the following files:

RavEngine/deps/physx/physx/source/physx/src/NpArticulationTendon.h
RavEngine/deps/physx/physx/source/physx/src/NpArticulationTendon.cpp
RavEngine/deps/physx/physx/source/physx/src/NpMetaData.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ createTendonJoint()

◆ getArticulation()

◆ getDamping()

◆ getLimitParameters()

◆ getLimitStiffness()

◆ getNbTendonJoints()

◆ getOffset()

◆ getRestLength()

◆ getStiffness()

◆ getTendonJoints()

◆ release()

◆ setDamping()

◆ setLimitParameters()

◆ setLimitStiffness()

◆ setOffset()

◆ setRestLength()

◆ setStiffness()