PxPrismaticJoint
Defined in include/extensions/PxPrismaticJoint.h
Inheritance Relationships
Base Type
public PxJoint(PxJoint)
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class PxPrismaticJoint : public PxJoint
A prismatic joint permits relative translational movement between two bodies along an axis, but no relative rotational movement.
the axis on each body is defined as the line containing the origin of the joint frame and extending along the x-axis of that frame
See also
Public Functions
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virtual void setLimit(const PxJointLinearLimitPair&) = 0
sets the joint limit parameters.
The limit range is [-PX_MAX_F32, PX_MAX_F32], but note that the width of the limit (upper-lower) must also be a valid float.
See also
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virtual PxJointLinearLimitPair getLimit() const = 0
gets the joint limit parameters.
See also
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virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0
Set the flags specific to the Prismatic Joint.
Default PxPrismaticJointFlags(0)
See also
PxPrismaticJointFlag setFlag() getFlags()
- Parameters
flags – [in] The joint flags.
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virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0
Set a single flag specific to a Prismatic Joint to true or false.
See also
PxPrismaticJointFlag, getFlags() setFlags()
- Parameters
flag – [in] The flag to set or clear.
value – [in] The value to which to set the flag
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virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0
Get the flags specific to the Prismatic Joint.
See also
PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags()
- Returns
the joint flags
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virtual void setProjectionLinearTolerance(PxReal tolerance) = 0
Set the linear tolerance threshold for projection.
If the joint separates by more than this distance along its locked degrees of freedom, the solver will move the bodies to close the distance.
Setting a very small tolerance may result in simulation jitter or other artifacts.
Sometimes it is not possible to project (for example when the joints form a cycle).
This value must be nonnegative.
Range: [0, PX_MAX_F32)Default: 1e10f
- Deprecated:
See also
- Parameters
tolerance – [in] the linear tolerance threshold
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virtual PxReal getProjectionLinearTolerance() const = 0
Get the linear tolerance threshold for projection.
- Deprecated:
See also
- Returns
the linear tolerance threshold in radians
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virtual void setProjectionAngularTolerance(PxReal tolerance) = 0
Set the angular tolerance threshold for projection.
Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.
If the joint separates by more than this distance along its locked degrees of freedom, the solver will move the bodies to close the distance.
Setting a very small tolerance may result in simulation jitter or other artifacts.
Sometimes it is not possible to project (for example when the joints form a cycle).
Range: [0, PX_MAX_F32)Default: Pi
- Deprecated:
- Parameters
tolerance – [in] the linear tolerance threshold
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virtual PxReal getProjectionAngularTolerance() const = 0
Get the angular tolerance threshold for projection.
- Deprecated:
See also
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inline virtual const char *getConcreteTypeName() const
Returns string name of PxPrismaticJoint, used for serialization.
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virtual void setActors(PxRigidActor *actor0, PxRigidActor *actor1) = 0
Set the actors for this joint.
An actor may be NULL to indicate the world frame. At most one of the actors may be NULL.
See also
- Parameters
actor0 – [in] the first actor.
actor1 – [in] the second actor
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virtual void getActors(PxRigidActor *&actor0, PxRigidActor *&actor1) const = 0
Get the actors for this joint.
See also
- Parameters
actor0 – [out] the first actor.
actor1 – [out] the second actor
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virtual void setLocalPose(PxJointActorIndex::Enum actor, const PxTransform &localPose) = 0
Set the joint local pose for an actor.
This is the relative pose which locates the joint frame relative to the actor.
See also
- Parameters
actor – [in] 0 for the first actor, 1 for the second actor.
localPose – [in] the local pose for the actor this joint
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virtual PxTransform getLocalPose(PxJointActorIndex::Enum actor) const = 0
get the joint local pose for an actor.
return the local pose for this joint
See also
- Parameters
actor – [in] 0 for the first actor, 1 for the second actor.
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virtual PxTransform getRelativeTransform() const = 0
get the relative pose for this joint
This function returns the pose of the joint frame of actor1 relative to actor0
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virtual PxVec3 getRelativeLinearVelocity() const = 0
get the relative linear velocity of the joint
This function returns the linear velocity of the origin of the constraint frame of actor1, relative to the origin of the constraint frame of actor0. The value is returned in the constraint frame of actor0
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virtual PxVec3 getRelativeAngularVelocity() const = 0
get the relative angular velocity of the joint
This function returns the angular velocity of actor1 relative to actor0. The value is returned in the constraint frame of actor0
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virtual void setBreakForce(PxReal force, PxReal torque) = 0
set the break force for this joint.
if the constraint force or torque on the joint exceeds the specified values, the joint will break, at which point it will not constrain the two actors and the flag PxConstraintFlag::eBROKEN will be set. The force and torque are measured in the joint frame of the first actor
- Parameters
force – [in] the maximum force the joint can apply before breaking
torque – [in] the maximum torque the joint can apply before breaking
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virtual void getBreakForce(PxReal &force, PxReal &torque) const = 0
get the break force for this joint.
See also
- Parameters
force – [out] the maximum force the joint can apply before breaking
torque – [out] the maximum torque the joint can apply before breaking
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virtual void setConstraintFlags(PxConstraintFlags flags) = 0
set the constraint flags for this joint.
See also
- Parameters
flags – [in] the constraint flags
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virtual void setConstraintFlag(PxConstraintFlag::Enum flag, bool value) = 0
set a constraint flags for this joint to a specified value.
See also
- Parameters
flag – [in] the constraint flag
value – [in] the value to which to set the flag
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virtual PxConstraintFlags getConstraintFlags() const = 0
get the constraint flags for this joint.
See also
- Returns
the constraint flags
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virtual void setInvMassScale0(PxReal invMassScale) = 0
set the inverse mass scale for actor0.
See also
- Parameters
invMassScale – [in] the scale to apply to the inverse mass of actor 0 for resolving this constraint
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virtual PxReal getInvMassScale0() const = 0
get the inverse mass scale for actor0.
See also
- Returns
inverse mass scale for actor0
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virtual void setInvInertiaScale0(PxReal invInertiaScale) = 0
set the inverse inertia scale for actor0.
See also
- Parameters
invInertiaScale – [in] the scale to apply to the inverse inertia of actor0 for resolving this constraint
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virtual PxReal getInvInertiaScale0() const = 0
get the inverse inertia scale for actor0.
See also
- Returns
inverse inertia scale for actor0
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virtual void setInvMassScale1(PxReal invMassScale) = 0
set the inverse mass scale for actor1.
See also
- Parameters
invMassScale – [in] the scale to apply to the inverse mass of actor 1 for resolving this constraint
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virtual PxReal getInvMassScale1() const = 0
get the inverse mass scale for actor1.
See also
- Returns
inverse mass scale for actor1
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virtual void setInvInertiaScale1(PxReal invInertiaScale) = 0
set the inverse inertia scale for actor1.
See also
- Parameters
invInertiaScale – [in] the scale to apply to the inverse inertia of actor1 for resolving this constraint
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virtual PxReal getInvInertiaScale1() const = 0
get the inverse inertia scale for actor1.
See also
- Returns
inverse inertia scale for actor1
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virtual PxConstraint *getConstraint() const = 0
Retrieves the PxConstraint corresponding to this joint.
This can be used to determine, among other things, the force applied at the joint.
- Returns
the constraint
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virtual void setName(const char *name) = 0
Sets a name string for the object that can be retrieved with getName().
This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.
See also
- Parameters
name – [in] String to set the objects name to.
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virtual const char *getName() const = 0
Retrieves the name string set with setName().
See also
- Returns
Name string associated with object.
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virtual void release() = 0
Deletes the joint.
Note
This call does not wake up the connected rigid bodies.
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virtual PxScene *getScene() const = 0
Retrieves the scene which this joint belongs to.
See also
- Returns
Owner Scene. NULL if not part of a scene.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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inline virtual bool isReleasable() const
Whether the object is subordinate.
A class is subordinate, if it can only be instantiated in the context of another class.
See also
- Returns
Whether the class is subordinate
Public Members
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Public Static Functions
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static void getBinaryMetaData(PxOutputStream &stream)
Put class meta data in stream, used for serialization.
Protected Functions
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inline PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags)
Constructor.
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inline PxPrismaticJoint(PxBaseFlags baseFlags)
Deserialization constructor.
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inline virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const
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virtual void setLimit(const PxJointLinearLimitPair&) = 0