PxJointLimitParameters

Defined in include/extensions/PxJointLimit.h

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

inline PxJointLimitParameters()

inline PxJointLimitParameters(const PxJointLimitParameters &p)

inline bool isValid() const

Returns true if the current settings are valid.

Returns

true if the current settings are valid

inline bool isSoft() const

Public Members

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

PxReal bounceThreshold

determines the minimum impact velocity which will cause the joint to bounce

PxReal stiffness

if greater than zero, the limit is soft, i.e.

a spring pulls the joint back to the limit

Range: [0, PX_MAX_F32)Default: 0.0

PxReal damping

if spring is greater than zero, this is the damping of the limit spring

Range: [0, PX_MAX_F32)Default: 0.0

Protected Functions

inline ~PxJointLimitParameters()