Common API base class shared by PxArticulationSpatialTendon and PxArticulationFixedTendon. More...

#include <PxArticulationTendon.h>

Inheritance diagram for physx::PxArticulationTendon:

Collaboration diagram for physx::PxArticulationTendon:

Public Member Functions
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
virtual const char *	getConcreteTypeName () const =0
	Returns string name of dynamic type.

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	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
Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

Common API base class shared by PxArticulationSpatialTendon and PxArticulationFixedTendon.

Member Function Documentation

◆ getArticulation()

virtual PxArticulationReducedCoordinate * physx::PxArticulationTendon::getArticulation ( ) const

pure virtual

Gets the articulation that the tendon is a part of.

Returns: The articulation.

See also: PxArticulationReducedCoordinate

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ getDamping()

virtual PxReal physx::PxArticulationTendon::getDamping ( ) const

pure virtual

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

Returns: The damping term.

See also: setDamping()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ getLimitStiffness()

virtual PxReal physx::PxArticulationTendon::getLimitStiffness ( ) const

pure 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()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ getOffset()

virtual PxReal physx::PxArticulationTendon::getOffset ( ) const

pure virtual

Gets the length offset term for the tendon.

Returns: The offset term.

See also: setOffset()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ getStiffness()

virtual PxReal physx::PxArticulationTendon::getStiffness ( ) const

pure virtual

Gets the spring stiffness of the tendon.

Returns: The spring stiffness.

See also: setStiffness()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ release()

virtual void physx::PxArticulationTendon::release ( )

pure 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::PxBase.

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ setDamping()

virtual void physx::PxArticulationTendon::setDamping ( const PxReal damping )

pure 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()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ setLimitStiffness()

virtual void physx::PxArticulationTendon::setLimitStiffness ( const PxReal stiffness )

pure 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()

Implemented in physx::NpArticulationFixedTendon, and physx::NpArticulationSpatialTendon.

◆ setOffset()

virtual void physx::PxArticulationTendon::setOffset	(	const PxReal	offset,
		bool	autowake = `true`
	)

pure 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()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

◆ setStiffness()

virtual void physx::PxArticulationTendon::setStiffness ( const PxReal stiffness )

pure virtual

Sets the spring stiffness term acting on the tendon length.

Parameters

[in] stiffness The spring stiffness. Default: 0

See also: getStiffness()

Implemented in physx::NpArticulationSpatialTendon, and physx::NpArticulationFixedTendon.

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

◆ getArticulation()

◆ getDamping()

◆ getLimitStiffness()

◆ getOffset()

◆ getStiffness()

◆ release()

◆ setDamping()

◆ setLimitStiffness()

◆ setOffset()

◆ setStiffness()