Module de.fabmax.physxjni

Package physx.physics

Class PxArticulationDrive

java.lang.Object

physx.NativeObject

physx.physics.PxArticulationDrive

public class PxArticulationDrive
extends NativeObject

Data structure for articulation joint drive configuration.

See Also:

• PxArticulationReducedCoordinate

Nested Class Summary

Nested classes/interfaces inherited from class physx.NativeObject

NativeObject.Allocator<T>

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ALIGNOF
static final int	SIZEOF

Fields inherited from class physx.NativeObject

address, isExternallyAllocated, SIZEOF_BYTE, SIZEOF_DOUBLE, SIZEOF_FLOAT, SIZEOF_INT, SIZEOF_LONG, SIZEOF_POINTER, SIZEOF_SHORT

Constructor Summary

Constructors

Modifier	Constructor	Description
	PxArticulationDrive()
	PxArticulationDrive(float stiffness, float damping, float maxForce, PxArticulationDriveTypeEnum driveType)
protected	PxArticulationDrive(long address)

Method Summary

Modifier and Type	Method	Description
static PxArticulationDrive	arrayGet(long baseAddress, int index)
static PxArticulationDrive	createAt(long address)
static PxArticulationDrive	createAt(long address, float stiffness, float damping, float maxForce, PxArticulationDriveTypeEnum driveType)
static <T> PxArticulationDrive	createAt(T allocator, NativeObject.Allocator<T> allocate)
static <T> PxArticulationDrive	createAt(T allocator, NativeObject.Allocator<T> allocate, float stiffness, float damping, float maxForce, PxArticulationDriveTypeEnum driveType)
void	destroy()
float	getDamping()	The drive damping, i.e. the derivative gain of the implicit PD controller.
PxArticulationDriveTypeEnum	getDriveType()	The drive type.
float	getMaxForce()	The drive force limit.
float	getStiffness()	The drive stiffness, i.e. the proportional gain of the implicit PD controller.
void	setDamping(float value)	The drive damping, i.e. the derivative gain of the implicit PD controller.
void	setDriveType(PxArticulationDriveTypeEnum value)	The drive type.
void	setMaxForce(float value)	The drive force limit.
void	setStiffness(float value)	The drive stiffness, i.e. the proportional gain of the implicit PD controller.
static PxArticulationDrive	wrapPointer(long address)

Methods inherited from class physx.NativeObject

checkNotNull, equals, getAddress, hashCode

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

SIZEOF

public static final int SIZEOF

ALIGNOF

public static final int ALIGNOF

See Also:

• Constant Field Values

Constructor Details

PxArticulationDrive

protected PxArticulationDrive(long address)

PxArticulationDrive

public PxArticulationDrive()

PxArticulationDrive

public PxArticulationDrive(float stiffness,
 float damping,
 float maxForce,
 PxArticulationDriveTypeEnum driveType)

Parameters:

stiffness - WebIDL type: float

damping - WebIDL type: float

maxForce - WebIDL type: float

driveType - WebIDL type: PxArticulationDriveTypeEnum [enum]

Method Details

wrapPointer

public static PxArticulationDrive wrapPointer(long address)

arrayGet

public static PxArticulationDrive arrayGet(long baseAddress,
 int index)

createAt

public static PxArticulationDrive createAt(long address)

Parameters:

address - Pre-allocated memory, where the object is created.

Returns:

Stack allocated object of PxArticulationDrive

createAt

public static <T> PxArticulationDrive createAt(T allocator,
 NativeObject.Allocator<T> allocate)

Type Parameters:

T - Allocator class, e.g. LWJGL's MemoryStack.

Parameters:

allocator - Object to use for allocation, e.g. an instance of LWJGL's MemoryStack.

allocate - Method to call on allocator to obtain the target address, e.g. MemoryStack::nmalloc.

Returns:

Stack allocated object of PxArticulationDrive

createAt

public static PxArticulationDrive createAt(long address,
 float stiffness,
 float damping,
 float maxForce,
 PxArticulationDriveTypeEnum driveType)

Parameters:

address - Pre-allocated memory, where the object is created.

stiffness - WebIDL type: float

damping - WebIDL type: float

maxForce - WebIDL type: float

driveType - WebIDL type: PxArticulationDriveTypeEnum [enum]

Returns:

Stack allocated object of PxArticulationDrive

createAt

public static <T> PxArticulationDrive createAt(T allocator,
 NativeObject.Allocator<T> allocate,
 float stiffness,
 float damping,
 float maxForce,
 PxArticulationDriveTypeEnum driveType)

Type Parameters:

T - Allocator class, e.g. LWJGL's MemoryStack.

Parameters:

allocator - Object to use for allocation, e.g. an instance of LWJGL's MemoryStack.

allocate - Method to call on allocator to obtain the target address, e.g. MemoryStack::nmalloc.

stiffness - WebIDL type: float

damping - WebIDL type: float

maxForce - WebIDL type: float

driveType - WebIDL type: PxArticulationDriveTypeEnum [enum]

Returns:

Stack allocated object of PxArticulationDrive

destroy

public void destroy()

getStiffness

public float getStiffness()

The drive stiffness, i.e. the proportional gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/rad if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/rad if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/distance if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/distance if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

setStiffness

public void setStiffness(float value)

The drive stiffness, i.e. the proportional gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/rad if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/rad if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/distance if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/distance if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

getDamping

public float getDamping()

The drive damping, i.e. the derivative gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/(rad/s) if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/(rad/s) if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/(distance/s) if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/(distance/s) if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

setDamping

public void setDamping(float value)

The drive damping, i.e. the derivative gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/(rad/s) if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/(rad/s) if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/(distance/s) if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/(distance/s) if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

getMaxForce

public float getMaxForce()

The drive force limit.

- The limit is enforced regardless of the drive type #PxArticulationDriveType. - The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.

Range: [0, PX_MAX_F32]
Default: 0.0f

setMaxForce

public void setMaxForce(float value)

The drive force limit.

- The limit is enforced regardless of the drive type #PxArticulationDriveType. - The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.

Range: [0, PX_MAX_F32]
Default: 0.0f

getDriveType

public PxArticulationDriveTypeEnum getDriveType()

The drive type.

setDriveType

public void setDriveType(PxArticulationDriveTypeEnum value)

The drive type.