PxConstraintVisualizer

Defined in include/PxConstraintDesc.h

class PxConstraintVisualizer

API used to visualize details about a constraint.

Public Functions

virtual void visualizeJointFrames(const PxTransform &parent, const PxTransform &child) = 0

Visualize joint frames.

Parameters

• parent – [in] Parent transformation

• child – [in] Child transformation

virtual void visualizeLinearLimit(const PxTransform &t0, const PxTransform &t1, PxReal value, bool active) = 0

Visualize joint linear limit.

Parameters

• t0 – [in] Base transformation

• t1 – [in] End transformation

• value – [in] Distance

• active – [in] State of the joint - active/inactive

virtual void visualizeAngularLimit(const PxTransform &t0, PxReal lower, PxReal upper, bool active) = 0

Visualize joint angular limit.

Parameters

• t0 – [in] Transformation for the visualization

• lower – [in] Lower limit angle

• upper – [in] Upper limit angle

• active – [in] State of the joint - active/inactive

virtual void visualizeLimitCone(const PxTransform &t, PxReal tanQSwingY, PxReal tanQSwingZ, bool active) = 0

Visualize limit cone.

Parameters

• t – [in] Transformation for the visualization

• tanQSwingY – [in] Tangent of the quarter Y angle

• tanQSwingZ – [in] Tangent of the quarter Z angle

• active – [in] State of the joint - active/inactive

virtual void visualizeDoubleCone(const PxTransform &t, PxReal angle, bool active) = 0

Visualize joint double cone.

Parameters

• t – [in] Transformation for the visualization

• angle – [in] Limit angle

• active – [in] State of the joint - active/inactive

virtual void visualizeLine(const PxVec3 &p0, const PxVec3 &p1, PxU32 color) = 0

Visualize line.

Parameters

• p0 – [in] Start position

• p1 – [in] End postion

• color – [in] Color

Protected Functions

inline virtual ~PxConstraintVisualizer()