Defines a spatial tendon attachment point on a link. More...

#include <PxArticulationTendon.h>

Inheritance diagram for physx::PxArticulationAttachment:

Collaboration diagram for physx::PxArticulationAttachment:

Public Member Functions
virtual void	setRestLength (const PxReal restLength)=0
	Sets the spring rest length for the sub-tendon from the root to this leaf attachment.

virtual PxReal	getRestLength () const =0
	Gets the spring rest length for the sub-tendon from the root to this leaf attachment.

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.

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.

virtual void	setRelativeOffset (const PxVec3 &offset)=0
	Sets the attachment's relative offset in the link actor frame.

virtual PxVec3	getRelativeOffset () const =0
	Gets the attachment's relative offset in the link actor frame.

virtual void	setCoefficient (const PxReal coefficient)=0
	Sets the attachment coefficient.

virtual PxReal	getCoefficient () const =0
	Gets the attachment coefficient.

virtual PxArticulationLink *	getLink () const =0
	Gets the articulation link.

virtual PxArticulationAttachment *	getParent () const =0
	Gets 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.

virtual PxArticulationSpatialTendon *	getTendon () const =0
	Gets the spatial tendon that the attachment is a part of.

virtual void	release ()=0
	Releases the attachment.

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 Attributes
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Member Functions
PX_INLINE	PxArticulationAttachment (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationAttachment (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

Additional Inherited Members
Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

Defines a spatial tendon attachment point on a link.

Member Function Documentation

◆ getCoefficient()

virtual PxReal physx::PxArticulationAttachment::getCoefficient ( ) const

pure virtual

Gets the attachment coefficient.

Returns: The scale that the distance between this attachment and its parent is multiplied by when summing up the spatial tendon's length.

See also: setCoefficient()

Implemented in physx::NpArticulationAttachment.

◆ getConcreteTypeName()

virtual const char * physx::PxArticulationAttachment::getConcreteTypeName ( ) const

inlinevirtual

Returns the string name of the dynamic type.

Returns: The string name.

Implements physx::PxBase.

◆ getLimitParameters()

virtual PxArticulationTendonLimit physx::PxArticulationAttachment::getLimitParameters ( ) const

pure virtual

Gets the low and high limit on the length of the sub-tendon from the root to this leaf attachment.

Returns: Struct with the low and high limit.

See also: PxArticulationTendonLimit, setLimitParameters()

Implemented in physx::NpArticulationAttachment.

◆ getLink()

virtual PxArticulationLink * physx::PxArticulationAttachment::getLink ( ) const

pure virtual

Gets the articulation link.

Returns: The articulation link that this attachment is attached to.

Implemented in physx::NpArticulationAttachment.

◆ getParent()

virtual PxArticulationAttachment * physx::PxArticulationAttachment::getParent ( ) const

pure virtual

Gets the parent attachment.

Returns: The parent attachment.

Implemented in physx::NpArticulationAttachment.

◆ getRelativeOffset()

virtual PxVec3 physx::PxArticulationAttachment::getRelativeOffset ( ) const

pure virtual

Gets the attachment's relative offset in the link actor frame.

Returns: The relative offset in the link actor frame.

See also: setRelativeOffset()

Implemented in physx::NpArticulationAttachment.

◆ getRestLength()

virtual PxReal physx::PxArticulationAttachment::getRestLength ( ) const

pure virtual

Gets the spring rest length for the sub-tendon from the root to this leaf attachment.

Returns: The rest length.

See also: setRestLength()

Implemented in physx::NpArticulationAttachment.

◆ getTendon()

virtual PxArticulationSpatialTendon * physx::PxArticulationAttachment::getTendon ( ) const

pure virtual

Gets the spatial tendon that the attachment is a part of.

Returns: The tendon.

See also: PxArticulationSpatialTendon

Implemented in physx::NpArticulationAttachment.

◆ isLeaf()

virtual bool physx::PxArticulationAttachment::isLeaf ( ) const

pure virtual

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.

Implemented in physx::NpArticulationAttachment.

◆ release()

virtual void physx::PxArticulationAttachment::release ( )

pure virtual

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.

See also: PxArticulationSpatialTendon::createAttachment()

Implements physx::PxBase.

Implemented in physx::NpArticulationAttachment.

◆ setCoefficient()

virtual void physx::PxArticulationAttachment::setCoefficient ( const PxReal coefficient )

pure virtual

Sets the attachment coefficient.

Parameters

[in] coefficient The scale that the distance between this attachment and its parent is multiplied by when summing up the spatial tendon's length.

See also: getCoefficient()

Implemented in physx::NpArticulationAttachment.

◆ setLimitParameters()

virtual void physx::PxArticulationAttachment::setLimitParameters ( const PxArticulationTendonLimit & parameters )

pure virtual

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.

Parameters

[in] parameters 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)

See also: PxArticulationTendonLimit, getLimitParameters(), isLeaf()

Implemented in physx::NpArticulationAttachment.

◆ setRelativeOffset()

virtual void physx::PxArticulationAttachment::setRelativeOffset ( const PxVec3 & offset )

pure virtual

Sets the attachment's relative offset in the link actor frame.

Parameters

[in] offset The relative offset in the link actor frame.

See also: getRelativeOffset()

Implemented in physx::NpArticulationAttachment.

◆ setRestLength()

virtual void physx::PxArticulationAttachment::setRestLength ( const PxReal restLength )

pure virtual

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.

Parameters

[in] restLength The rest length of the spring. Default: 0

See also: getRestLength(), isLeaf()

Implemented in physx::NpArticulationAttachment.

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

RavEngine/deps/physx/physx/include/PxArticulationTendon.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getCoefficient()

◆ getConcreteTypeName()

◆ getLimitParameters()

◆ getLink()

◆ getParent()

◆ getRelativeOffset()

◆ getRestLength()

◆ getTendon()

◆ isLeaf()

◆ release()

◆ setCoefficient()

◆ setLimitParameters()

◆ setRelativeOffset()

◆ setRestLength()