physx::PxArticulationTendonJoint Class Reference

Defines a fixed-tendon joint on an articulation joint degree of freedom. More...

#include <PxArticulationTendon.h>

Inheritance diagram for physx::PxArticulationTendonJoint:

Collaboration diagram for physx::PxArticulationTendonJoint:

Public Member Functions
virtual void	setCoefficient (const PxArticulationAxis::Enum axis, const PxReal coefficient, const PxReal recipCoefficient)=0
	Sets the tendon joint coefficient.
virtual void	getCoefficient (PxArticulationAxis::Enum &axis, PxReal &coefficient, PxReal &recipCoefficient) const =0
	Gets the tendon joint coefficient.
virtual PxArticulationLink *	getLink () const =0
	Gets the articulation link.
virtual PxArticulationTendonJoint *	getParent () const =0
	Gets the parent tendon joint.
virtual PxArticulationFixedTendon *	getTendon () const =0
	Gets the tendon that the joint is a part of.
virtual void	release ()=0
	Releases a tendon joint.
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	PxArticulationTendonJoint (PxType concreteType, PxBaseFlags baseFlags)
PX_INLINE	PxArticulationTendonJoint (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 fixed-tendon joint on an articulation joint degree of freedom.

Member Function Documentation

getCoefficient()

virtual void physx::PxArticulationTendonJoint::getCoefficient ( PxArticulationAxis::Enum &  axis, PxReal &  coefficient, PxReal &  recipCoefficient  ) const

pure virtual

Gets the tendon joint coefficient.

Parameters

[out]	axis	The degree of freedom that the tendon joint operates on.
[out]	coefficient	The scale that the axis' joint position is multiplied by when summing up the fixed tendon's length.
[in]	recipCoefficient	The scale that the tendon's response is multiplied by when applying to this tendon joint.

See also

setCoefficient()

Implemented in physx::NpArticulationTendonJoint.

getConcreteTypeName()

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

inlinevirtual

Returns the string name of the dynamic type.

Returns

The string name.

Implements physx::PxBase.

getLink()

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

pure virtual

Gets the articulation link.

Returns

The articulation link (and its incoming joint in particular) that this tendon joint is associated with.

Implemented in physx::NpArticulationTendonJoint.

getParent()

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

pure virtual

Gets the parent tendon joint.

Returns

The parent tendon joint.

Implemented in physx::NpArticulationTendonJoint.

getTendon()

virtual PxArticulationFixedTendon * physx::PxArticulationTendonJoint::getTendon ( ) const

pure virtual

Gets the tendon that the joint is a part of.

Returns

The tendon.

See also

PxArticulationFixedTendon

Implemented in physx::NpArticulationTendonJoint.

release()

virtual void physx::PxArticulationTendonJoint::release ( )

pure virtual

Releases a tendon joint.

Note

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

See also

PxArticulationFixedTendon::createTendonJoint()

Implements physx::PxBase.

Implemented in physx::NpArticulationTendonJoint.

setCoefficient()

virtual void physx::PxArticulationTendonJoint::setCoefficient ( const PxArticulationAxis::Enum  axis, const PxReal  coefficient, const PxReal  recipCoefficient  )

pure virtual

Sets the tendon joint coefficient.

Parameters

[in]	axis	The degree of freedom that the tendon joint operates on (must correspond to a degree of freedom of the associated link's incoming joint).
[in]	coefficient	The scale that the axis' joint position is multiplied by when summing up the fixed tendon's length.
[in]	recipCoefficient	The scale that the tendon's response is multiplied by when applying to this tendon joint.

Note

RecipCoefficient is commonly expected to be 1/coefficient, but it can be set to different values to tune behavior; for example, zero can be used to have a joint axis only participate in the length computation of the tendon, but not have any tendon force applied to it.

See also

getCoefficient()

Implemented in physx::NpArticulationTendonJoint.

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

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