PxJointLimitPyramid
Defined in include/extensions/PxJointLimit.h
-
class PxJointLimitPyramid : public PxJointLimitParameters
Describes a pyramidal joint limit.
See also
Public Functions
-
inline PxJointLimitPyramid(PxReal yLimitAngleMin, PxReal yLimitAngleMax, PxReal zLimitAngleMin, PxReal zLimitAngleMax)
Construct a pyramid hard limit.
See also
- Parameters
yLimitAngleMin – [in] The minimum limit angle from the Y-axis of the constraint frame
yLimitAngleMax – [in] The maximum limit angle from the Y-axis of the constraint frame
zLimitAngleMin – [in] The minimum limit angle from the Z-axis of the constraint frame
zLimitAngleMax – [in] The maximum limit angle from the Z-axis of the constraint frame
-
inline PxJointLimitPyramid(PxReal yLimitAngleMin, PxReal yLimitAngleMax, PxReal zLimitAngleMin, PxReal zLimitAngleMax, const PxSpring &spring)
Construct a pyramid soft limit.
See also
- Parameters
yLimitAngleMin – [in] The minimum limit angle from the Y-axis of the constraint frame
yLimitAngleMax – [in] The maximum limit angle from the Y-axis of the constraint frame
zLimitAngleMin – [in] The minimum limit angle from the Z-axis of the constraint frame
zLimitAngleMax – [in] The maximum limit angle from the Z-axis of the constraint frame
spring – [in] The stiffness and damping of the limit spring
-
inline bool isValid() const
Returns true if the limit is valid.
- Returns
true if the current settings are valid
-
inline bool isSoft() const
Public Members
-
PxReal yAngleMin
the minimum angle from the Y axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (-PI,PI)Default: -PI/2
-
PxReal yAngleMax
the maximum angle from the Y axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (-PI,PI)Default: PI/2
-
PxReal zAngleMin
the minimum angle from the Z-axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (-PI,PI)Default: -PI/2
-
PxReal zAngleMax
the maximum angle from the Z-axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (-PI,PI)Default: PI/2
-
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
-
inline PxJointLimitPyramid(PxReal yLimitAngleMin, PxReal yLimitAngleMax, PxReal zLimitAngleMin, PxReal zLimitAngleMax)