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 PhysxJointAPI, 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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Verified |
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no |
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no |
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yes |
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.