Module de.fabmax.physxjni
Package physx.physics

Class PxArticulationTendon

java.lang.Object
physx.NativeObject
physx.common.PxBase
physx.physics.PxArticulationTendon
Direct Known Subclasses:
PxArticulationFixedTendon, PxArticulationSpatialTendon
public class PxArticulationTendon extends PxBase
Common API base class shared by PxArticulationSpatialTendon and PxArticulationFixedTendon.

  • Field Details

    • SIZEOF

      public static final int SIZEOF

    • ALIGNOF

      public static final int ALIGNOF
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  • Constructor Details

    • PxArticulationTendon

      protected PxArticulationTendon()

    • PxArticulationTendon

      protected PxArticulationTendon(long address)

  • Method Details

    • wrapPointer

      public static PxArticulationTendon wrapPointer(long address)

    • arrayGet

      public static PxArticulationTendon arrayGet(long baseAddress, int index)

    • destroy

      public void destroy()

    • setStiffness

      public void setStiffness(float stiffness)
      Sets the spring stiffness term acting on the tendon length.
      Parameters:
      stiffness - The spring stiffness. Default: 0
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    • getStiffness

      public float getStiffness()
      Gets the spring stiffness of the tendon.
      Returns:
      The spring stiffness.
      See Also:

    • setDamping

      public void setDamping(float damping)
      Sets the damping term acting both on the tendon length and tendon-length limits.
      Parameters:
      damping - The damping term. Default: 0
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    • getDamping

      public float getDamping()
      Gets the damping term acting both on the tendon length and tendon-length limits.
      Returns:
      The damping term.
      See Also:

    • setLimitStiffness

      public void setLimitStiffness(float stiffness)
      Sets the limit stiffness term acting on the tendon's length limits.

      For spatial tendons, this parameter applies to all its leaf attachments / sub-tendons.

      Parameters:
      stiffness - The limit stiffness term. Default: 0
      See Also:

    • getLimitStiffness

      public float getLimitStiffness()
      Gets the limit stiffness term acting on the tendon's length limits.

      For spatial tendons, this parameter applies to all its leaf attachments / sub-tendons.

      Returns:
      The limit stiffness term.
      See Also:

    • setOffset

      public void setOffset(float offset)
      Sets the length offset term for the tendon.

      An offset defines an amount to be added to the accumulated length computed for the tendon. It allows the application to actuate the tendon by shortening or lengthening it.

      Parameters:
      offset - The offset term. Default: 0 to #PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.
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    • setOffset

      public void setOffset(float offset, boolean autowake)
      Sets the length offset term for the tendon.

      An offset defines an amount to be added to the accumulated length computed for the tendon. It allows the application to actuate the tendon by shortening or lengthening it.

      Parameters:
      offset - The offset term. Default: 0
      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.
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    • getOffset

      public float getOffset()
      Gets the length offset term for the tendon.
      Returns:
      The offset term.
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    • getArticulation

      public PxArticulationReducedCoordinate getArticulation()
      Gets the articulation that the tendon is a part of.
      Returns:
      The articulation.
      See Also: