Module de.fabmax.physxjni

Package physx.physics

Class PxArticulationTendonJoint

java.lang.Object

physx.NativeObject

physx.physics.PxArticulationTendonJoint

public class PxArticulationTendonJoint
extends NativeObject

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

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	PxArticulationTendonJoint()
protected	PxArticulationTendonJoint(long address)

Method Summary

Modifier and Type	Method	Description
static PxArticulationTendonJoint	arrayGet(long baseAddress, int index)
void	destroy()
PxArticulationLink	getLink()	Gets the articulation link.
PxArticulationTendonJoint	getParent()	Gets the parent tendon joint.
PxArticulationFixedTendon	getTendon()	Gets the tendon that the joint is a part of.
NativeObject	getUserData()	user can assign this to whatever, usually to create a 1:1 relationship with a user object.
void	release()	Releases a tendon joint.
void	setCoefficient(PxArticulationAxisEnum axis, float coefficient, float recipCoefficient)	Sets the tendon joint coefficient.
void	setUserData(NativeObject value)	user can assign this to whatever, usually to create a 1:1 relationship with a user object.
static PxArticulationTendonJoint	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

PxArticulationTendonJoint

protected PxArticulationTendonJoint()

PxArticulationTendonJoint

protected PxArticulationTendonJoint(long address)

Method Details

wrapPointer

public static PxArticulationTendonJoint wrapPointer(long address)

arrayGet

public static PxArticulationTendonJoint arrayGet(long baseAddress,
 int index)

destroy

public void destroy()

getUserData

public NativeObject getUserData()

user can assign this to whatever, usually to create a 1:1 relationship with a user object.

setUserData

public void setUserData(NativeObject value)

user can assign this to whatever, usually to create a 1:1 relationship with a user object.

setCoefficient

public void setCoefficient(PxArticulationAxisEnum axis,
 float coefficient,
 float recipCoefficient)

Sets the tendon joint coefficient.

Parameters:

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).

coefficient - The scale that the axis' joint position is multiplied by when summing up the fixed tendon's length.

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.

getLink

public PxArticulationLink getLink()

Gets the articulation link.

Returns:

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

getParent

public PxArticulationTendonJoint getParent()

Gets the parent tendon joint.

Returns:

The parent tendon joint.

getTendon

public PxArticulationFixedTendon getTendon()

Gets the tendon that the joint is a part of.

Returns:

The tendon.

See Also:

• PxArticulationFixedTendon

release

public void release()

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.