Module de.fabmax.physxjni
Package physx.physics

Class PxArticulationJointReducedCoordinate

java.lang.Object
physx.NativeObject
physx.common.PxBase
physx.physics.PxArticulationJointReducedCoordinate
public class PxArticulationJointReducedCoordinate extends PxBase
A joint between two links in an articulation.
See Also:

  • Field Details

    • SIZEOF

      public static final int SIZEOF

    • ALIGNOF

      public static final int ALIGNOF
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  • Constructor Details

    • PxArticulationJointReducedCoordinate

      protected PxArticulationJointReducedCoordinate()

    • PxArticulationJointReducedCoordinate

      protected PxArticulationJointReducedCoordinate(long address)

  • Method Details

    • wrapPointer

      public static PxArticulationJointReducedCoordinate wrapPointer(long address)

    • arrayGet

      public static PxArticulationJointReducedCoordinate arrayGet(long baseAddress, int index)

    • destroy

      public void destroy()

    • getParentArticulationLink

      public PxArticulationLink getParentArticulationLink()
      Gets the parent articulation link of this joint.
      Returns:
      The parent link.

    • setParentPose

      public void setParentPose(PxTransform pose)
      Sets the joint pose in the parent link actor frame.
      Parameters:
      pose - The joint pose. Default: The identity transform.

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

      See Also:

    • getParentPose

      public PxTransform getParentPose()
      Gets the joint pose in the parent link actor frame.
      Returns:
      The joint pose.
      See Also:

    • getChildArticulationLink

      public PxArticulationLink getChildArticulationLink()
      Gets the child articulation link of this joint.
      Returns:
      The child link.

    • setChildPose

      public void setChildPose(PxTransform pose)
      Sets the joint pose in the child link actor frame.
      Parameters:
      pose - The joint pose. Default: The identity transform.

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

      See Also:

    • getChildPose

      public PxTransform getChildPose()
      Gets the joint pose in the child link actor frame.
      Returns:
      The joint pose.
      See Also:

    • setJointType

      public void setJointType(PxArticulationJointTypeEnum jointType)
      Sets the joint type (e.g. revolute).
      Parameters:
      jointType - The joint type to set.

      Note: Setting the joint type is not allowed while the articulation is in a scene. In order to amend the joint type, remove and then re-add the articulation to the scene.

      Default: PxArticulationJointType::eUNDEFINED

      See Also:

    • getJointType

      public PxArticulationJointTypeEnum getJointType()
      Gets the joint type.
      Returns:
      The joint type.
      See Also:

    • setMotion

      public void setMotion(PxArticulationAxisEnum axis, PxArticulationMotionEnum motion)
      Sets the joint motion for a given axis.
      Parameters:
      axis - The target axis.
      motion - The motion type to set.

      Note: Setting the motion of joint axes is not allowed while the articulation is in a scene. In order to set the motion, remove and then re-add the articulation to the scene.

      Default: PxArticulationMotion::eLOCKED

      See Also:

    • getMotion

      public PxArticulationMotionEnum getMotion(PxArticulationAxisEnum axis)
      Returns the joint motion for the given axis.
      Parameters:
      axis - The target axis.
      Returns:
      The joint motion of the given axis.
      See Also:

    • setLimitParams

      public void setLimitParams(PxArticulationAxisEnum axis, PxArticulationLimit limit)
      Sets the joint limits for a given axis.

      - The motion of the corresponding axis should be set to PxArticulationMotion::eLIMITED in order for the limits to be enforced. - The lower limit should be strictly smaller than the higher limit. If the limits should be equal, use PxArticulationMotion::eLOCKED and an appropriate offset in the parent/child joint frames.

      Parameters:
      axis - The target axis.
      limit - The joint limits.

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

      Note: For PxArticulationJointType::eSPHERICAL, limit.min and limit.max must both be in range [-Pi, Pi]. Note: For PxArticulationJointType::eREVOLUTE, limit.min and limit.max must both be in range [-2*Pi, 2*Pi]. Note: For PxArticulationJointType::eREVOLUTE_UNWRAPPED, limit.min and limit.max must both be in range [-PX_MAX_REAL, PX_MAX_REAL]. Note: For PxArticulationJointType::ePRISMATIC, limit.min and limit.max must both be in range [-PX_MAX_REAL, PX_MAX_REAL].

      Default: (0,0)

      See Also:

    • getLimitParams

      public PxArticulationLimit getLimitParams(PxArticulationAxisEnum axis)
      Returns the joint limits for a given axis.
      Parameters:
      axis - The target axis.
      Returns:
      The joint limits.
      See Also:

    • setDriveParams

      public void setDriveParams(PxArticulationAxisEnum axis, PxArticulationDrive drive)
      Configures a joint drive for the given axis.

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

      Parameters:
      axis - The target axis.
      drive - The drive parameters

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

      See Also:

    • setDriveTarget

      public void setDriveTarget(PxArticulationAxisEnum axis, float target)
      Sets the joint drive position target for the given axis.

      The target units are linear units (equivalent to scene units) for a translational axis, or rad for a rotational axis.

      Parameters:
      axis - The target axis.
      target - The target position. to #PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

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

      Note: For spherical joints, target must be in range [-Pi, Pi].

      Note: The target is specified in the parent frame of the joint. If Gp, Gc are the parent and child actor poses in the world frame and Lp, Lc are the parent and child joint frames expressed in the parent and child actor frames then the joint will drive the parent and child links to poses that obey Gp * Lp * J = Gc * Lc. For joints restricted to angular motion, J has the form PxTranfsorm(PxVec3(PxZero), PxExp(PxVec3(twistTarget, swing1Target, swing2Target))). For joints restricted to linear motion, J has the form PxTransform(PxVec3(XTarget, YTarget, ZTarget), PxQuat(PxIdentity)).

      Note: For spherical joints with more than 1 degree of freedom, the joint target angles taken together can collectively represent a rotation of greater than Pi around a vector. When this happens the rotation that matches the joint drive target is not the shortest path rotation. The joint pose J that is the outcome after driving to the target pose will always be the equivalent of the shortest path rotation.

      See Also:

    • setDriveTarget

      public void setDriveTarget(PxArticulationAxisEnum axis, float target, boolean autowake)
      Sets the joint drive position target for the given axis.

      The target units are linear units (equivalent to scene units) for a translational axis, or rad for a rotational axis.

      Parameters:
      axis - The target axis.
      target - The target position.
      autowake - If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to #PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

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

      Note: For spherical joints, target must be in range [-Pi, Pi].

      Note: The target is specified in the parent frame of the joint. If Gp, Gc are the parent and child actor poses in the world frame and Lp, Lc are the parent and child joint frames expressed in the parent and child actor frames then the joint will drive the parent and child links to poses that obey Gp * Lp * J = Gc * Lc. For joints restricted to angular motion, J has the form PxTranfsorm(PxVec3(PxZero), PxExp(PxVec3(twistTarget, swing1Target, swing2Target))). For joints restricted to linear motion, J has the form PxTransform(PxVec3(XTarget, YTarget, ZTarget), PxQuat(PxIdentity)).

      Note: For spherical joints with more than 1 degree of freedom, the joint target angles taken together can collectively represent a rotation of greater than Pi around a vector. When this happens the rotation that matches the joint drive target is not the shortest path rotation. The joint pose J that is the outcome after driving to the target pose will always be the equivalent of the shortest path rotation.

      See Also:

    • getDriveTarget

      public float getDriveTarget(PxArticulationAxisEnum axis)
      Returns the joint drive position target for the given axis.
      Parameters:
      axis - The target axis.
      Returns:
      The target position.
      See Also:

    • setDriveVelocity

      public void setDriveVelocity(PxArticulationAxisEnum axis, float targetVel)
      Sets the joint drive velocity target for the given axis.

      The target units are linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

      Parameters:
      axis - The target axis.
      targetVel - The target velocity. to #PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

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

      See Also:

    • setDriveVelocity

      public void setDriveVelocity(PxArticulationAxisEnum axis, float targetVel, boolean autowake)
      Sets the joint drive velocity target for the given axis.

      The target units are linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

      Parameters:
      axis - The target axis.
      targetVel - The target velocity.
      autowake - If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to #PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

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

      See Also:

    • getDriveVelocity

      public float getDriveVelocity(PxArticulationAxisEnum axis)
      Returns the joint drive velocity target for the given axis.
      Parameters:
      axis - The target axis.
      Returns:
      The target velocity.
      See Also:

    • setArmature

      public void setArmature(PxArticulationAxisEnum axis, float armature)
      Sets the joint armature for the given axis.

      - The armature is directly added to the joint-space spatial inertia of the corresponding axis. - The armature is in mass units for a prismatic (i.e. linear) joint, and in mass units * (scene linear units)^2 for a rotational joint.

      Parameters:
      axis - The target axis.
      armature - The joint axis armature.

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

      See Also:

    • getArmature

      public float getArmature(PxArticulationAxisEnum axis)
      Gets the joint armature for the given axis.
      Parameters:
      axis - The target axis.
      Returns:
      The armature set on the given axis.
      See Also:

    • setFrictionCoefficient

      public void setFrictionCoefficient(float coefficient)
      Sets the joint friction coefficient, which applies to all joint axes.

      - The joint friction is unitless and relates the magnitude of the spatial force [F_trans, T_trans] transmitted from parent to child link to the maximal friction force F_resist that may be applied by the solver to resist joint motion, per axis; i.e. |F_resist| <= coefficient * (|F_trans| + |T_trans|), where F_resist may refer to a linear force or torque depending on the joint axis. - The simulated friction effect is therefore similar to static and Coulomb friction. In order to simulate dynamic joint friction, use a joint drive with zero stiffness and zero velocity target, and an appropriately dimensioned damping parameter.

      Parameters:
      coefficient - The joint friction coefficient.

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

      See Also:

    • getFrictionCoefficient

      public float getFrictionCoefficient()
      Gets the joint friction coefficient.
      Returns:
      The joint friction coefficient.
      See Also:

    • setMaxJointVelocity

      public void setMaxJointVelocity(float maxJointV)
      Sets the maximal joint velocity enforced for all axes.

      - The solver will apply appropriate joint-space impulses in order to enforce the per-axis joint-velocity limit. - The velocity units are linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

      Parameters:
      maxJointV - The maximal per-axis joint velocity.

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

      See Also:

    • getMaxJointVelocity

      public float getMaxJointVelocity()
      Gets the maximal joint velocity enforced for all axes.
      Returns:
      The maximal per-axis joint velocity.
      See Also:

    • setJointPosition

      public void setJointPosition(PxArticulationAxisEnum axis, float jointPos)
      Sets the joint position for the given axis.

      - For performance, prefer PxArticulationCache::jointPosition to set joint positions in a batch articulation state update. - Use PxArticulationReducedCoordinate::updateKinematic after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

      Parameters:
      axis - The target axis.
      jointPos - The joint position in linear units (equivalent to scene units) for a translational axis, or radians for a rotational axis.

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

      Note: For PxArticulationJointType::eSPHERICAL, jointPos must be in range [-Pi, Pi]. Note: For PxArticulationJointType::eREVOLUTE, jointPos must be in range [-2*Pi, 2*Pi]. Note: For PxArticulationJointType::eREVOLUTE_UNWRAPPED, jointPos must be in range [-PX_MAX_REAL, PX_MAX_REAL]. Note: For PxArticulationJointType::ePRISMATIC, jointPos must be in range [-PX_MAX_REAL, PX_MAX_REAL].

      Note: Joint position is specified in the parent frame of the joint. If Gp, Gc are the parent and child actor poses in the world frame and Lp, Lc are the parent and child joint frames expressed in the parent and child actor frames then the parent and child links will be given poses that obey Gp * Lp * J = Gc * Lc with J denoting the joint pose. For joints restricted to angular motion, J has the form PxTranfsorm(PxVec3(PxZero), PxExp(PxVec3(twistPos, swing1Pos, swing2Pos))). For joints restricted to linear motion, J has the form PxTransform(PxVec3(xPos, yPos, zPos), PxQuat(PxIdentity)).

      Note: For spherical joints with more than 1 degree of freedom, the input joint positions taken together can collectively represent a rotation of greater than Pi around a vector. When this happens the rotation that matches the joint positions is not the shortest path rotation. The joint pose J that is the outcome of setting and applying the joint positions will always be the equivalent of the shortest path rotation.

      Default: 0.0

    • getJointPosition

      public float getJointPosition(PxArticulationAxisEnum axis)
      Gets the joint position for the given axis, i.e. joint degree of freedom (DOF).

      For performance, prefer PxArticulationCache::jointPosition to get joint positions in a batch query.

      Parameters:
      axis - The target axis.
      Returns:
      The joint position in linear units (equivalent to scene units) for a translational axis, or radians for a rotational axis.

      Note: This call is not allowed while the simulation is running except in a split simulation during #PxScene::collide() and up to #PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.

    • setJointVelocity

      public void setJointVelocity(PxArticulationAxisEnum axis, float jointVel)
      Sets the joint velocity for the given axis.

      - For performance, prefer PxArticulationCache::jointVelocity to set joint velocities in a batch articulation state update. - Use PxArticulationReducedCoordinate::updateKinematic after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

      Parameters:
      axis - The target axis.
      jointVel - The joint velocity in linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

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

      Default: 0.0

    • getJointVelocity

      public float getJointVelocity(PxArticulationAxisEnum axis)
      Gets the joint velocity for the given axis.

      For performance, prefer PxArticulationCache::jointVelocity to get joint velocities in a batch query.

      Parameters:
      axis - The target axis.
      Returns:
      The joint velocity in linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

      Note: This call is not allowed while the simulation is running except in a split simulation during #PxScene::collide() and up to #PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.