PxJointLinearLimit
Defined in include/extensions/PxJointLimit.h
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class PxJointLinearLimit : public PxJointLimitParameters
Describes a one-sided linear limit.
Public Functions
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inline PxJointLinearLimit(PxReal extent)
construct a linear hard limit
See also
- Parameters
extent – [in] The extent of the limit
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inline PxJointLinearLimit(PxReal extent, const PxSpring &spring)
construct a linear soft limit
See also
- Parameters
extent – [in] the extent of the limit
spring – [in] the stiffness and damping parameters for the limit spring
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inline bool isValid() const
Returns true if the limit is valid.
- Returns
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
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inline PxJointLinearLimit(PxReal extent)