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.

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  • Field Details

    • SIZEOF

      public static final int SIZEOF

    • ALIGNOF

      public static final int ALIGNOF
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  • 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.
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    • 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.
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    • 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.
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    • 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 low-level indices are built after an articulation is added to the scene following a breadth-first approach, where all the links at the current depth are indexed sequentially before moving to the links at the next depth level. The root of the articulation has therefore the index 0. Note that the low-level indices may be different from the order in which the links were originally added to the articulation.

      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.
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    • 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.

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    • getCfmScale

      public float getCfmScale()
      Get the constraint-force-mixing scale term.
      Returns:
      The constraint-force-mixing scale term.
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