A fixed tendon that can be used to link multiple degrees of freedom of multiple articulation joints via length and limit constraints. More...

#include <PxArticulationTendon.h>

Inheritance diagram for physx::PxArticulationFixedTendon:

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Collaboration diagram for physx::PxArticulationFixedTendon:

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Public Member Functions
virtual PxArticulationTendonJoint *	createTendonJoint (PxArticulationTendonJoint parent, PxArticulationAxis::Enum axis, const PxReal coefficient, const PxReal recipCoefficient, PxArticulationLink link)=0
	Creates an articulation tendon joint and adds it to the list of children in the parent tendon joint.

virtual PxU32	getTendonJoints (PxArticulationTendonJoint **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Fills a user-provided buffer of tendon-joint pointers with the set of tendon joints.

virtual PxU32	getNbTendonJoints () const =0
	Returns the number of tendon joints in the tendon.

virtual void	setRestLength (const PxReal restLength)=0
	Sets the spring rest length of the tendon.

virtual PxReal	getRestLength () const =0
	Gets the spring rest length of the tendon.

virtual void	setLimitParameters (const PxArticulationTendonLimit &parameter)=0
	Sets the low and high limit on the length of the tendon.

virtual PxArticulationTendonLimit	getLimitParameters () const =0
	Gets the low and high limit on the length of the tendon.

virtual const char *	getConcreteTypeName () const
	Returns the string name of the dynamic type.

Public Member Functions inherited from physx::PxArticulationTendon
virtual void	setStiffness (const PxReal stiffness)=0
	Sets the spring stiffness term acting on the tendon length.

virtual PxReal	getStiffness () const =0
	Gets the spring stiffness of the tendon.

virtual void	setDamping (const PxReal damping)=0
	Sets the damping term acting both on the tendon length and tendon-length limits.

virtual PxReal	getDamping () const =0
	Gets the damping term acting both on the tendon length and tendon-length limits.

virtual void	setLimitStiffness (const PxReal stiffness)=0
	Sets the limit stiffness term acting on the tendon's length limits.

virtual PxReal	getLimitStiffness () const =0
	Gets the limit stiffness term acting on the tendon's length limits.

virtual void	setOffset (const PxReal offset, bool autowake=true)=0
	Sets the length offset term for the tendon.

virtual PxReal	getOffset () const =0
	Gets the length offset term for the tendon.

virtual PxArticulationReducedCoordinate *	getArticulation () const =0
	Gets the articulation that the tendon is a part of.

virtual void	release ()=0
	Releases a tendon to remove it from the articulation and free its associated memory.

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.

Protected Member Functions
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

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 Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

A fixed tendon that can be used to link multiple degrees of freedom of multiple articulation joints via length and limit constraints.

Fixed tendons allow the simulation of coupled relationships between joint degrees of freedom in an articulation. Fixed tendons do not allow linking arbitrary joint axes of the articulation: The respective joints must all be directly connected to each other in the articulation structure, i.e. each of the joints in the tendon must be connected by a single articulation link to another joint in the same tendon. This implies both that 1) fixed tendons can branch along a branching articulation; and 2) they cannot be used to create relationships between axes in a spherical joint with more than one degree of freedom. Locked joint axes or fixed joints are currently not supported.

Member Function Documentation

◆ createTendonJoint()

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

pure 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

Implemented in physx::NpArticulationFixedTendon.

◆ getConcreteTypeName()

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

inlinevirtual

Returns the string name of the dynamic type.

Returns: The string name.

Implements physx::PxBase.

◆ getLimitParameters()

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

pure 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()

Implemented in physx::NpArticulationFixedTendon.

◆ getNbTendonJoints()

virtual PxU32 physx::PxArticulationFixedTendon::getNbTendonJoints ( ) const

pure virtual

Returns the number of tendon joints in the tendon.

Returns: The number of tendon joints.

Implemented in physx::NpArticulationFixedTendon.

◆ getRestLength()

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

pure virtual

Gets the spring rest length of the tendon.

Returns: The spring rest length of the tendon.

See also: setRestLength()

Implemented in physx::NpArticulationFixedTendon.

◆ getTendonJoints()

virtual PxU32 physx::PxArticulationFixedTendon::getTendonJoints	(	PxArticulationTendonJoint **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure 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

Implemented in physx::NpArticulationFixedTendon.

◆ setLimitParameters()

virtual void physx::PxArticulationFixedTendon::setLimitParameters ( const PxArticulationTendonLimit & parameter )

pure 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()

Implemented in physx::NpArticulationFixedTendon.

◆ setRestLength()

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

pure 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()

Implemented in physx::NpArticulationFixedTendon.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createTendonJoint()

◆ getConcreteTypeName()

◆ getLimitParameters()

◆ getNbTendonJoints()

◆ getRestLength()

◆ getTendonJoints()

◆ setLimitParameters()

◆ setRestLength()