PxRevoluteJoint

Defined in include/extensions/PxRevoluteJoint.h

Inheritance Relationships

Base Type

class PxRevoluteJoint : public PxJoint

A joint which behaves in a similar way to a hinge or axle.

A hinge joint removes all but a single rotational degree of freedom from two objects. The axis along which the two bodies may rotate is specified with a point and a direction vector.

The position of the hinge on each body is specified by the origin of the body’s joint frame. The axis of the hinge is specified as the direction of the x-axis in the body’s joint frame.

../../../_images/revoluteJoint.png

A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors. It may also be given a limit, to restrict the revolute motion to within a certain range. In addition, the bodies may be projected together if the distance or angle between them exceeds a given threshold.

Projection, drive and limits are activated by setting the appropriate flags on the joint.

See also

PxRevoluteJointCreate() PxJoint

Public Functions

virtual PxReal getAngle() const = 0

return the angle of the joint, in the range (-2*Pi, 2*Pi]

virtual PxReal getVelocity() const = 0

return the velocity of the joint

virtual void setLimit(const PxJointAngularLimitPair &limits) = 0

set the joint limit parameters.

The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED

The limit angle range is (-2*Pi, 2*Pi).

See also

PxJointAngularLimitPair getLimit()

Parameters

limits – [in] The joint limit parameters.

virtual PxJointAngularLimitPair getLimit() const = 0

get the joint limit parameters.

See also

PxJointAngularLimitPair setLimit()

Returns

the joint limit parameters

virtual void setDriveVelocity(PxReal velocity, bool autowake = true) = 0

set the target velocity for the drive model.

The motor will only be able to reach this velocity if the maxForce is sufficiently large. If the joint is spinning faster than this velocity, the motor will actually try to brake (see PxRevoluteJointFlag::eDRIVE_FREESPIN.)

The sign of this variable determines the rotation direction, with positive values going the same way as positive joint angles. Setting a very large target velocity may cause undesirable results.

Range: (-PX_MAX_F32, PX_MAX_F32)Default: 0.0

See also

PxRevoluteFlags::eDRIVE_FREESPIN

Parameters

  • velocity – [in] the drive target velocity

  • autowake – [in] Whether to wake up the joint rigids if they are asleep.

virtual PxReal getDriveVelocity() const = 0

gets the target velocity for the drive model.

See also

setDriveVelocity()

Returns

the drive target velocity

virtual void setDriveForceLimit(PxReal limit) = 0

sets the maximum torque the drive can exert.

The value set here may be used either as an impulse limit or a force limit, depending on the flag PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES

Range: [0, PX_MAX_F32)Default: PX_MAX_F32

See also

setDriveVelocity()

virtual PxReal getDriveForceLimit() const = 0

gets the maximum torque the drive can exert.

See also

setDriveVelocity()

Returns

the torque limit

virtual void setDriveGearRatio(PxReal ratio) = 0

sets the gear ratio for the drive.

When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down. So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio

Range: [0, PX_MAX_F32)Default: 1.0

See also

getDriveGearRatio()

Parameters

ratio – [in] the drive gear ratio

virtual PxReal getDriveGearRatio() const = 0

gets the gear ratio.

See also

setDriveGearRatio()

Returns

the drive gear ratio

virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0

sets the flags specific to the Revolute Joint.

Default PxRevoluteJointFlags(0)

See also

PxRevoluteJointFlag setFlag() getFlags()

Parameters

flags – [in] The joint flags.

virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0

sets a single flag specific to a Revolute Joint.

See also

PxRevoluteJointFlag, getFlags() setFlags()

Parameters

  • flag – [in] The flag to set or clear.

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

virtual PxRevoluteJointFlags getRevoluteJointFlags() const = 0

gets the flags specific to the Revolute Joint.

See also

PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()

Returns

the joint flags

virtual void setProjectionLinearTolerance(PxReal tolerance) = 0

Set the linear 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: 1e10f

Deprecated:

See also

getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION

Parameters

tolerance – [in] the linear tolerance threshold

virtual PxReal getProjectionLinearTolerance() const = 0

Get the linear tolerance threshold for projection.

Deprecated:

See also

setProjectionLinearTolerance()

Returns

the linear tolerance threshold

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 deviates by more than this angle around its locked angular degrees of freedom, the solver will move the bodies to close the angle.

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,Pi] Default: Pi

Deprecated:

See also

getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION

Parameters

tolerance – [in] the angular tolerance threshold in radians

virtual PxReal getProjectionAngularTolerance() const = 0

gets the angular tolerance threshold for projection.

Deprecated:

See also

setProjectionAngularTolerance()

Returns

the angular tolerance threshold in radians

inline virtual const char *getConcreteTypeName() const

Returns string name of PxRevoluteJoint, 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 PxRevoluteJoint(PxType concreteType, PxBaseFlags baseFlags)

Constructor.

inline PxRevoluteJoint(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