Module de.fabmax.physxjni
Package physx.physics

Class PxArticulationFixedTendon

java.lang.Object
physx.NativeObject
physx.common.PxBase
physx.physics.PxArticulationTendon
physx.physics.PxArticulationFixedTendon
public class PxArticulationFixedTendon extends PxArticulationTendon
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.

  • Field Details

    • SIZEOF

      public static final int SIZEOF

    • ALIGNOF

      public static final int ALIGNOF
      See Also:

  • Constructor Details

    • PxArticulationFixedTendon

      protected PxArticulationFixedTendon()

    • PxArticulationFixedTendon

      protected PxArticulationFixedTendon(long address)

  • Method Details

    • wrapPointer

      public static PxArticulationFixedTendon wrapPointer(long address)

    • arrayGet

      public static PxArticulationFixedTendon arrayGet(long baseAddress, int index)

    • destroy

      public void destroy()
      Overrides:
      destroy in class PxArticulationTendon

    • createTendonJoint

      public PxArticulationTendonJoint createTendonJoint(PxArticulationTendonJoint parent, PxArticulationAxisEnum axis, float coefficient, float recipCoefficient, PxArticulationLink link)
      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:
      parent - The parent tendon joint. Can be NULL for the root tendon joint of a tendon.
      axis - The degree of freedom that this tendon joint is associated with.
      coefficient - A user-defined scale that the accumulated tendon length is scaled by.
      recipCoefficient - The scale that the tendon's response is multiplied by when applying to this tendon joint.
      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:

    • getNbTendonJoints

      public int getNbTendonJoints()
      Returns the number of tendon joints in the tendon.
      Returns:
      The number of tendon joints.

    • setRestLength

      public void setRestLength(float restLength)
      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:
      restLength - The spring rest length of the tendon.
      See Also:

    • getRestLength

      public float getRestLength()
      Gets the spring rest length of the tendon.
      Returns:
      The spring rest length of the tendon.
      See Also:

    • setLimitParameters

      public void setLimitParameters(PxArticulationTendonLimit parameter)
      Sets the low and high limit on the length of the tendon.
      Parameters:
      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:

    • getLimitParameters

      public PxArticulationTendonLimit getLimitParameters()
      Gets the low and high limit on the length of the tendon.
      Returns:
      Struct with the low and high limit.
      See Also: