A spatial tendon that attaches to an articulation. More...

#include <PxArticulationTendon.h>

Inheritance diagram for physx::PxArticulationSpatialTendon:

Collaboration diagram for physx::PxArticulationSpatialTendon:

Public Member Functions
virtual PxArticulationAttachment *	createAttachment (PxArticulationAttachment parent, const PxReal coefficient, const PxVec3 relativeOffset, PxArticulationLink link)=0
	Creates an articulation attachment and adds it to the list of children in the parent attachment.

virtual PxU32	getAttachments (PxArticulationAttachment **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	Fills a user-provided buffer of attachment pointers with the set of attachments.

virtual PxU32	getNbAttachments () const =0
	Returns the number of attachments in 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	PxArticulationSpatialTendon (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationSpatialTendon (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 spatial tendon that attaches to an articulation.

A spatial tendon attaches to multiple links in an articulation using a set of PxArticulationAttachments. The tendon is defined as a tree of attachment points, where each attachment can have an arbitrary number of children. Each leaf of the attachment tree defines a subtendon between itself and the root attachment. The subtendon then applies forces at the leaf, and an equal but opposing force at the root, in order to satisfy the spring-damper and limit constraints that the user sets up. Attachments in between the root and leaf do not exert any force on the articulation, but define the geometry of the tendon from which the length is computed together with the attachment coefficients.

Member Function Documentation

◆ createAttachment()

virtual PxArticulationAttachment * physx::PxArticulationSpatialTendon::createAttachment	(	PxArticulationAttachment *	parent,
		const PxReal	coefficient,
		const PxVec3	relativeOffset,
		PxArticulationLink *	link
	)

pure virtual

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

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

Parameters

[in]	parent	The parent attachment. Can be NULL for the root attachment of a tendon.
[in]	coefficient	A user-defined scale that the accumulated length is scaled by.
[in]	relativeOffset	An offset vector in the link's actor frame to the point where the tendon attachment is attached to the link.
[in]	link	The link that this attachment is associated with.

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

See also: releaseAttachment()

Implemented in physx::NpArticulationSpatialTendon.

◆ getAttachments()

virtual PxU32 physx::PxArticulationSpatialTendon::getAttachments	(	PxArticulationAttachment **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

Fills a user-provided buffer of attachment pointers with the set of attachments.

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 attachments, only as many as can fit are written. Use getNbAttachments to size for all attachments.
[in]	startIndex	Index of first attachment pointer to be retrieved.