Two rigid-body Cubes on a spherical joint#
Multi-prim test composition: two Cube rigid bodies one unit apart (B translated +3 in x, half extents 0.5) joined by a PhysicsSphericalJoint with a swing cone limit and PhysX cone tuning whose local frames meet halfway between them. The bodies are not verified; the joint prim is. Standalone joints are PxD6Joint at runtime (distance joints PxDistanceJoint); the PhysxJointAxisAPI, PhysicsJointStateAPI and PhysxDrivePerformanceEnvelopeAPI columns target the articulation joint and are unobservable here (NaN on both sides), see the articulation compositions. Owns no columns and generates no helper.
Form: multi-prim; no helper, the contract test builds each prim with
PrimBatch.
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no |
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no |
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Notes#
physics:coneAngle0Limit/coneAngle1Limit are authored in every variant because the absent-column stage is not simulable: the consumer activates a zero cone that PxD6Joint::setSwingLimit rejects as ‘limit invalid’ (see the PhysicsSphericalJoint finding), and the test bootstrap turns the PhysX error into a fatal failure. The absent-cone defect is therefore documented, not exercised, by this composition.