PxJointLimitParameters
Defined in include/extensions/PxJointLimit.h
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class PxJointLimitParameters
Describes the parameters for a joint limit.
Limits are enabled or disabled by setting flags or other configuration parameters joints, see the documentation for specific joint types for details.
Subclassed by PxJointAngularLimitPair, PxJointLimitCone, PxJointLimitPyramid, PxJointLinearLimit, PxJointLinearLimitPair
Public Functions
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inline PxJointLimitParameters()
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inline PxJointLimitParameters(const PxJointLimitParameters &p)
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inline bool isValid() const
Returns true if the current settings are valid.
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true if the current settings are valid
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inline bool isSoft() const
Public Members
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PxReal restitution
Controls the amount of bounce when the joint hits a limit.
A restitution value of 1.0 causes the joint to bounce back with the velocity which it hit the limit. A value of zero causes the joint to stop dead.
In situations where the joint has many locked DOFs (e.g. 5) the restitution may not be applied correctly. This is due to a limitation in the solver which causes the restitution velocity to become zero as the solver enforces constraints on the other DOFs.
This limitation applies to both angular and linear limits, however it is generally most apparent with limited angular DOFs. Disabling joint projection and increasing the solver iteration count may improve this behavior to some extent.
Also, combining soft joint limits with joint drives driving against those limits may affect stability.
Range: [0,1]Default: 0.0
Protected Functions
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inline ~PxJointLimitParameters()
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inline PxJointLimitParameters()