PxPrismaticJoint

Defined in include/extensions/PxPrismaticJoint.h

Inheritance Relationships

Base Type

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

../../../_images/prismJoint.png

Public Functions

virtual PxReal getPosition() const = 0

returns the displacement of the joint along its axis.

virtual PxReal getVelocity() const = 0

returns the velocity of the joint along its axis

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.

virtual PxJointLinearLimitPair getLimit() const = 0

gets the joint limit parameters.

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.

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

virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0

Get the flags specific to the Prismatic Joint.

See also

PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags()

Returns

the joint flags

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:

Parameters

tolerance[in] the linear tolerance threshold

virtual PxReal getProjectionLinearTolerance() const = 0

Get the linear tolerance threshold for projection.

Deprecated:

Returns

the linear tolerance threshold in radians

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

virtual PxReal getProjectionAngularTolerance() const = 0

Get the angular tolerance threshold for projection.

Deprecated:

inline virtual const char *getConcreteTypeName() const

Returns string name of PxPrismaticJoint, 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.

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.

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.

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.

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 PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags)

Constructor.

inline PxPrismaticJoint(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