PxDistanceJoint

Defined in include/extensions/PxDistanceJoint.h

Inheritance Relationships

Base Type

public PxJoint (PxJoint)

class PxDistanceJoint : public PxJoint 

a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects

See also

PxDistanceJointCreate PxJoint

Public Functions

virtual PxReal getDistance() const = 0: Return the current distance of the joint.

virtual void setMinDistance(PxReal distance) = 0

Set the allowed minimum distance for the joint.

The minimum distance must be no more than the maximum distance

Default 0.0f Range [0, PX_MAX_F32)

See also

PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()

Parameters: distance – [in] the minimum distance

virtual PxReal getMinDistance() const = 0

Get the allowed minimum distance for the joint.

See also

PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()

Returns: the allowed minimum distance

virtual void setMaxDistance(PxReal distance) = 0

Set the allowed maximum distance for the joint.

The maximum distance must be no less than the minimum distance.

Default 0.0f Range [0, PX_MAX_F32)

See also

PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()

Parameters: distance – [in] the maximum distance

virtual PxReal getMaxDistance() const = 0

Get the allowed maximum distance for the joint.

See also

PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()

Returns: the allowed maximum distance

virtual void setTolerance(PxReal tolerance) = 0

Set the error tolerance of the joint.

See also

PxDistanceJoint::tolerance, getTolerance()

Parameters: tolerance – [in] the distance beyond the allowed range at which the joint becomes active

virtual PxReal getTolerance() const = 0

Get the error tolerance of the joint.

the distance beyond the joint’s [min, max] range before the joint becomes active.

Default 0.25f * PxTolerancesScale::length Range (0, PX_MAX_F32)

This value should be used to ensure that if the minimum distance is zero and the spring function is in use, the rest length of the spring is non-zero.

See also

PxDistanceJoint::tolerance, setTolerance()

virtual void setStiffness(PxReal stiffness) = 0

Set the strength of the joint spring.

The spring is used if enabled, and the distance exceeds the range [min-error, max+error].

Default 0.0f Range [0, PX_MAX_F32)

See also

PxDistanceJointFlag::eSPRING_ENABLED getStiffness()

Parameters: stiffness – [in] the spring strength of the joint

virtual PxReal getStiffness() const = 0

Get the strength of the joint spring.

See also

PxDistanceJointFlag::eSPRING_ENABLED setStiffness()

Returns: stiffness the spring strength of the joint

virtual void setDamping(PxReal damping) = 0

Set the damping of the joint spring.

The spring is used if enabled, and the distance exceeds the range [min-error, max+error].

Default 0.0f Range [0, PX_MAX_F32)

See also

PxDistanceJointFlag::eSPRING_ENABLED setDamping()

Parameters: damping – [in] the degree of damping of the joint spring of the joint

virtual PxReal getDamping() const = 0

Get the damping of the joint spring.

See also

PxDistanceJointFlag::eSPRING_ENABLED setDamping()

Returns: the degree of damping of the joint spring of the joint

virtual void setContactDistance(PxReal contactDistance) = 0

Set the contact distance for the min & max distance limits.

This is similar to the PxJointLimitParameters::contactDistance parameter for regular limits.

The two most common values are 0 and infinite. Infinite means the internal constraints are always created, resulting in the best simulation quality but slower performance. Zero means the internal constraints are only created when the limits are violated, resulting in best performance but worse simulation quality.

Default 0.0f Range [0, PX_MAX_F32)

See also

PxJointLimitParameters::contactDistance getContactDistance()

Parameters: contactDistance – [in] The contact distance

virtual PxReal getContactDistance() const = 0

Get the contact distance.

See also

PxJointLimitParameters::contactDistance setContactDistance()

Returns: the contact distance

virtual void setDistanceJointFlags(PxDistanceJointFlags flags) = 0

Set the flags specific to the Distance Joint.

Default PxDistanceJointFlag::eMAX_DISTANCE_ENABLED

See also

PxDistanceJointFlag setFlag() getFlags()

Parameters: flags – [in] The joint flags.

virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0

Set a single flag specific to a Distance Joint to true or false.

See also

PxDistanceJointFlag, getFlags() setFlags()

Parameters

flag – [in] The flag to set or clear.
value – [in] the value to which to set the flag

virtual PxDistanceJointFlags getDistanceJointFlags() const = 0

Get the flags specific to the Distance Joint.

See also

PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()

Returns: the joint flags

inline virtual const char *getConcreteTypeName() const: Returns string name of PxDistanceJoint, used for serialization.

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

getActors()

Parameters

actor0 – [in] the first actor.
actor1 – [in] the second actor

virtual void getActors(PxRigidActor *&actor0, PxRigidActor *&actor1) const = 0

Get the actors for this joint.

See also

setActors()

Parameters

actor0 – [out] the first actor.
actor1 – [out] the second actor

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

getLocalPose()

Parameters

actor – [in] 0 for the first actor, 1 for the second actor.
localPose – [in] the local pose for the actor this joint

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

setLocalPose()

Parameters: actor – [in] 0 for the first actor, 1 for the second actor.

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

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

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

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

virtual void getBreakForce(PxReal &force, PxReal &torque) const = 0

get the break force for this joint.

See also

setBreakForce()

Parameters

force – [out] the maximum force the joint can apply before breaking
torque – [out] the maximum torque the joint can apply before breaking

virtual void setConstraintFlags(PxConstraintFlags flags) = 0

set the constraint flags for this joint.

See also

PxConstraintFlag

Parameters: flags – [in] the constraint flags

virtual void setConstraintFlag(PxConstraintFlag::Enum flag, bool value) = 0

set a constraint flags for this joint to a specified value.

See also

PxConstraintFlag

Parameters

flag – [in] the constraint flag
value – [in] the value to which to set the flag

virtual PxConstraintFlags getConstraintFlags() const = 0

get the constraint flags for this joint.

See also

PxConstraintFlag

Returns: the constraint flags

virtual void setInvMassScale0(PxReal invMassScale) = 0

set the inverse mass scale for actor0.

See also

getInvMassScale0

Parameters: invMassScale – [in] the scale to apply to the inverse mass of actor 0 for resolving this constraint

virtual PxReal getInvMassScale0() const = 0

get the inverse mass scale for actor0.

See also

setInvMassScale0

Returns: inverse mass scale for actor0

virtual void setInvInertiaScale0(PxReal invInertiaScale) = 0

set the inverse inertia scale for actor0.

See also

getInvMassScale0

Parameters: invInertiaScale – [in] the scale to apply to the inverse inertia of actor0 for resolving this constraint

virtual PxReal getInvInertiaScale0() const = 0

get the inverse inertia scale for actor0.

See also

setInvInertiaScale0

Returns: inverse inertia scale for actor0

virtual void setInvMassScale1(PxReal invMassScale) = 0

set the inverse mass scale for actor1.

See also

getInvMassScale1

Parameters: invMassScale – [in] the scale to apply to the inverse mass of actor 1 for resolving this constraint

virtual PxReal getInvMassScale1() const = 0

get the inverse mass scale for actor1.

See also

setInvMassScale1

Returns: inverse mass scale for actor1

virtual void setInvInertiaScale1(PxReal invInertiaScale) = 0

set the inverse inertia scale for actor1.

See also

getInvInertiaScale1

Parameters: invInertiaScale – [in] the scale to apply to the inverse inertia of actor1 for resolving this constraint

virtual PxReal getInvInertiaScale1() const = 0

get the inverse inertia scale for actor1.

See also

setInvInertiaScale1

Returns: inverse inertia scale for actor1

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

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

getName()

Parameters: name – [in] String to set the objects name to.

virtual const char *getName() const = 0

Retrieves the name string set with setName().

See also

setName()

Returns: Name string associated with object.

virtual void release() = 0: Deletes the joint.

Note

This call does not wake up the connected rigid bodies.

virtual PxScene *getScene() const = 0

Retrieves the scene which this joint belongs to.

See also

PxScene

Returns: Owner Scene. NULL if not part of a scene.

template<class T> inline T *is()

template<class T> inline const T *is() const

inline PxType getConcreteType() const

Returns concrete type of object.

See also

PxConcreteType

Returns: PxConcreteType::Enum of serialized object

inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)

Set PxBaseFlag

Parameters

flag – [in] The flag to be set
value – [in] The flags new value

inline void setBaseFlags(PxBaseFlags inFlags)

Set PxBaseFlags

See also

PxBaseFlags

Parameters: inFlags – [in] The flags to be set

inline PxBaseFlags getBaseFlags() const

Returns PxBaseFlags.

See also

PxBaseFlags

Returns: PxBaseFlags

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

PxSerialization::isSerializable

Returns: Whether the class is subordinate

Public Members

void *userData: user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Public Static Functions

static void getBinaryMetaData(PxOutputStream &stream): Put class meta data in stream, used for serialization.

Protected Functions

inline PxDistanceJoint(PxType concreteType, PxBaseFlags baseFlags): Constructor.

inline PxDistanceJoint(PxBaseFlags baseFlags): Deserialization constructor.

inline virtual bool isKindOf(const char *name) const: Returns whether a given type name matches with the type of this instance.

template<class T> inline bool typeMatch() const

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount