PxContactJoint
Defined in include/extensions/PxContactJoint.h
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class PxContactJoint : public PxJoint
PxContactJoint is best viewed as a helper function for the inverse dynamics of articulations. The expected use case is to use PxContactJoint::getConstraint() in conjunction with PxArticulationReducedCoordinate::addLoopJoint().
- Deprecated:
Will be removed in a future version when a replacement for loop-closure articulation inverse dynamics is made available.
See also
PxContactJointCreate PxArticulationReducedCoordinate::addLoopJoint
Public Functions
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virtual void setContactNormal(const PxVec3 &contactNormal) = 0
Set the current contact normal of the joint.
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virtual void setPenetration(const PxReal penetration) = 0
Set the current penetration of the joint.
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inline virtual const char *getConcreteTypeName() const
Returns string name of PxContactJoint, used for serialization.
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virtual void computeJacobians(PxJacobianRow *jacobian) const = 0
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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
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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
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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
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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.
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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
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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
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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
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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
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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
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virtual void setConstraintFlags(PxConstraintFlags flags) = 0
set the constraint flags for this joint.
See also
PxConstraintFlag
- Parameters
flags – [in] the constraint flags
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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
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virtual PxConstraintFlags getConstraintFlags() const = 0
get the constraint flags for this joint.
See also
PxConstraintFlag
- Returns
the constraint flags
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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
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virtual PxReal getInvMassScale0() const = 0
get the inverse mass scale for actor0.
See also
setInvMassScale0
- Returns
inverse mass scale for actor0
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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
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virtual PxReal getInvInertiaScale0() const = 0
get the inverse inertia scale for actor0.
See also
setInvInertiaScale0
- Returns
inverse inertia scale for actor0
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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
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virtual PxReal getInvMassScale1() const = 0
get the inverse mass scale for actor1.
See also
setInvMassScale1
- Returns
inverse mass scale for actor1
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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
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virtual PxReal getInvInertiaScale1() const = 0
get the inverse inertia scale for actor1.
See also
setInvInertiaScale1
- Returns
inverse inertia scale for actor1
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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
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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.
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virtual const char *getName() const = 0
Retrieves the name string set with setName().
See also
setName()
- Returns
Name string associated with object.
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virtual void release() = 0
Deletes the joint.
Note
This call does not wake up the connected rigid bodies.
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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.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
PxConcreteType
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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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
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Public Static Functions
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static void getBinaryMetaData(PxOutputStream &stream)
Put class meta data in stream, used for serialization.
Protected Functions
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inline PxContactJoint(PxType concreteType, PxBaseFlags baseFlags)
Constructor.
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inline PxContactJoint(PxBaseFlags baseFlags)
Deserialization constructor.
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inline virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const