Module de.fabmax.physxjni

Package physx.physics

Class PxArticulationSpatialTendon

java.lang.Object

physx.NativeObject

physx.common.PxBase

physx.physics.PxArticulationTendon

physx.physics.PxArticulationSpatialTendon

public class PxArticulationSpatialTendon
extends PxArticulationTendon

A spatial tendon that attaches to an articulation.

A spatial tendon attaches to multiple links in an articulation using a set of PxArticulationAttachments. The tendon is defined as a tree of attachment points, where each attachment can have an arbitrary number of children. Each leaf of the attachment tree defines a subtendon between itself and the root attachment. The subtendon then applies forces at the leaf, and an equal but opposing force at the root, in order to satisfy the spring-damper and limit constraints that the user sets up. Attachments in between the root and leaf do not exert any force on the articulation, but define the geometry of the tendon from which the length is computed together with the attachment coefficients.

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	PxArticulationSpatialTendon()
protected	PxArticulationSpatialTendon(long address)

Method Summary

Modifier and Type	Method	Description
static PxArticulationSpatialTendon	arrayGet(long baseAddress, int index)
PxArticulationAttachment	createAttachment(PxArticulationAttachment parent, float coefficient, PxVec3 relativeOffset, PxArticulationLink link)	Creates an articulation attachment and adds it to the list of children in the parent attachment.
void	destroy()
int	getNbAttachments()	Returns the number of attachments in the tendon.
static PxArticulationSpatialTendon	wrapPointer(long address)

Methods inherited from class physx.physics.PxArticulationTendon

getArticulation, getDamping, getLimitStiffness, getOffset, getStiffness, setDamping, setLimitStiffness, setOffset, setOffset, setStiffness

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

PxArticulationSpatialTendon

protected PxArticulationSpatialTendon()

PxArticulationSpatialTendon

protected PxArticulationSpatialTendon(long address)

Method Details

wrapPointer

public static PxArticulationSpatialTendon wrapPointer(long address)

arrayGet

public static PxArticulationSpatialTendon arrayGet(long baseAddress,
 int index)

destroy

public void destroy()

Overrides:

destroy in class PxArticulationTendon

createAttachment

public PxArticulationAttachment createAttachment(PxArticulationAttachment parent,
 float coefficient,
 PxVec3 relativeOffset,
 PxArticulationLink link)

Creates an articulation attachment and adds it to the list of children in the parent attachment.

Creating an attachment is not allowed while the articulation is in a scene. In order to add the attachment, remove and then re-add the articulation to the scene.

Parameters:

parent - The parent attachment. Can be NULL for the root attachment of a tendon.

coefficient - A user-defined scale that the accumulated length is scaled by.

relativeOffset - An offset vector in the link's actor frame to the point where the tendon attachment is attached to the link.

link - The link that this attachment is associated with.

Returns:

The newly-created attachment if creation was successful, otherwise a null pointer.

getNbAttachments

public int getNbAttachments()

Returns the number of attachments in the tendon.

Returns:

The number of attachments.