Module de.fabmax.physxjni

Package physx.physics

Class PxArticulationLink

java.lang.Object

physx.NativeObject

physx.common.PxBase

physx.physics.PxActor

physx.physics.PxRigidActor

physx.physics.PxRigidBody

physx.physics.PxArticulationLink

public class PxArticulationLink
extends PxRigidBody

A component of an articulation that represents a rigid body.

Articulation links have a restricted subset of the functionality of a PxRigidDynamic: - They may not be kinematic, and do not support contact-force thresholds. - Their velocity or global pose cannot be set directly, but must be set via the articulation-root and joint positions/velocities. - Sleep state and solver iteration counts are properties of the entire articulation rather than the individual links.

See Also:

• PxRigidBody

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
protected	PxArticulationLink()
protected	PxArticulationLink(long address)

Method Summary

Modifier and Type	Method	Description
static PxArticulationLink	arrayGet(long baseAddress, int index)
PxArticulationReducedCoordinate	getArticulation()	Gets the articulation that the link is a part of.
float	getCfmScale()	Get the constraint-force-mixing scale term.
PxArticulationJointReducedCoordinate	getInboundJoint()	Gets the joint which connects this link to its parent.
int	getInboundJointDof()	Gets the number of degrees of freedom of the joint which connects this link to its parent.
int	getLinkIndex()	Gets the low-level link index that may be used to index into members of PxArticulationCache.
int	getNbChildren()	Gets the number of child links.
void	setCfmScale(float cfm)	Set the constraint-force-mixing scale term.
static PxArticulationLink	wrapPointer(long address)

Methods inherited from class physx.physics.PxRigidBody

addForce, addForce, addForce, addTorque, addTorque, addTorque, clearForce, clearTorque, getAngularDamping, getAngularVelocity, getCMassLocalPose, getContactSlopCoefficient, getInvMass, getLinearDamping, getLinearVelocity, getMass, getMassSpaceInertiaTensor, getMassSpaceInvInertiaTensor, getMaxAngularVelocity, getMaxContactImpulse, getMaxDepenetrationVelocity, getMaxLinearVelocity, getMinCCDAdvanceCoefficient, getRigidBodyFlags, setAngularDamping, setCMassLocalPose, setContactSlopCoefficient, setForceAndTorque, setForceAndTorque, setLinearDamping, setMass, setMassSpaceInertiaTensor, setMaxAngularVelocity, setMaxContactImpulse, setMaxDepenetrationVelocity, setMaxLinearVelocity, setMinCCDAdvanceCoefficient, setRigidBodyFlag, setRigidBodyFlags

Methods inherited from class physx.physics.PxRigidActor

attachShape, detachShape, detachShape, getGlobalPose, getNbConstraints, getNbShapes, setGlobalPose, setGlobalPose

Methods inherited from class physx.physics.PxActor

getActorFlags, getDominanceGroup, getName, getOwnerClient, getScene, getType, getUserData, getWorldBounds, getWorldBounds, setActorFlag, setActorFlags, setDominanceGroup, setName, setOwnerClient, setUserData

Methods inherited from class physx.common.PxBase

getBaseFlags, getConcreteType, getConcreteTypeName, isReleasable, release, setBaseFlag, setBaseFlags

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

PxArticulationLink

protected PxArticulationLink()

PxArticulationLink

protected PxArticulationLink(long address)

Method Details

wrapPointer

public static PxArticulationLink wrapPointer(long address)

arrayGet

public static PxArticulationLink arrayGet(long baseAddress,
 int index)

getArticulation

public PxArticulationReducedCoordinate getArticulation()

Gets the articulation that the link is a part of.

Returns:

The articulation.

See Also:

• PxArticulationReducedCoordinate

getInboundJoint

public PxArticulationJointReducedCoordinate getInboundJoint()

Gets the joint which connects this link to its parent.

Returns:

The joint connecting the link to the parent. NULL for the root link.

See Also:

• PxArticulationJointReducedCoordinate

getInboundJointDof

public int getInboundJointDof()

Gets the number of degrees of freedom of the joint which connects this link to its parent.

- The root link DOF-count is defined to be 0 regardless of PxArticulationFlag::eFIX_BASE. - The return value is only valid for articulations that are in a scene.

Returns:

The number of degrees of freedom, or 0xFFFFFFFF if the articulation is not in a scene.

See Also:

• PxArticulationJointReducedCoordinate

getNbChildren

public int getNbChildren()

Gets the number of child links.

Returns:

The number of child links.

getLinkIndex

public int getLinkIndex()

Gets the low-level link index that may be used to index into members of PxArticulationCache.

The return value is only valid for articulations that are in a scene.

Returns:

The low-level index, or 0xFFFFFFFF if the articulation is not in a scene.

See Also:

• PxArticulationCache

setCfmScale

public void setCfmScale(float cfm)

Set the constraint-force-mixing scale term.

The cfm scale term is a stabilization term that helps avoid instabilities with over-constrained configurations. It should be a small value that is multiplied by 1/mass internally to produce an additional bias added to the unit response term in the solver.

Parameters:

cfm - The constraint-force-mixing scale term.

Default: 0.025 Range: [0, 1]

Note: This call is not allowed while the simulation is running.

See Also:

• getCfmScale()

getCfmScale

public float getCfmScale()

Get the constraint-force-mixing scale term.

Returns:

The constraint-force-mixing scale term.

See Also:

• setCfmScale(float)