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()