PxSphericalJoint

Defined in include/extensions/PxSphericalJoint.h

class PxSphericalJoint : public PxJoint 

A joint which behaves in a similar way to a ball and socket.

A spherical joint removes all linear degrees of freedom from two objects.

The position of the joint on each actor is specified by the origin of the body’s joint frame.

A spherical joint may have a cone limit, to restrict the motion to within a certain range. In addition, the bodies may be projected together if the distance between them exceeds a given threshold.

Projection, drive and limits are activated by setting the appropriate flags on the joint.

See also

PxRevoluteJointCreate() PxJoint

Public Functions

virtual PxJointLimitCone getLimitCone() const = 0

Set the limit cone.

If enabled, the limit cone will constrain the angular movement of the joint to lie within an elliptical cone.

See also

PxJointLimitCone setLimit()

Returns: the limit cone

virtual void setLimitCone(const PxJointLimitCone &limit) = 0

Get the limit cone.

See also

PxJointLimitCone getLimit()

Parameters: limit – [in] the limit cone

virtual PxReal getSwingYAngle() const = 0: get the swing angle of the joint from the Y axis

virtual PxReal getSwingZAngle() const = 0: get the swing angle of the joint from the Z axis

virtual void setSphericalJointFlags(PxSphericalJointFlags flags) = 0

Set the flags specific to the Spherical Joint.

Default PxSphericalJointFlags(0)

See also

PxSphericalJointFlag setFlag() getFlags()

Parameters: flags – [in] The joint flags.

virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0

Set a single flag specific to a Spherical Joint to true or false.

See also

PxSphericalJointFlag, getFlags() setFlags()

Parameters

flag – [in] The flag to set or clear.
value – [in] the value to which to set the flag

virtual PxSphericalJointFlags getSphericalJointFlags() const = 0

Get the flags specific to the Spherical Joint.

See also

PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()

Returns: the joint flags

inline virtual const char *getConcreteTypeName() const: Returns string name of PxSphericalJoint, used for serialization.

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

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

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

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.

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

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

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

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

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

virtual void setConstraintFlags(PxConstraintFlags flags) = 0

set the constraint flags for this joint.

See also

PxConstraintFlag

Parameters: flags – [in] the constraint flags

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

virtual PxConstraintFlags getConstraintFlags() const = 0

get the constraint flags for this joint.

See also

PxConstraintFlag

Returns: the constraint flags

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

virtual PxReal getInvMassScale0() const = 0

get the inverse mass scale for actor0.

See also

setInvMassScale0

Returns: inverse mass scale for actor0

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

virtual PxReal getInvInertiaScale0() const = 0

get the inverse inertia scale for actor0.

See also

setInvInertiaScale0

Returns: inverse inertia scale for actor0

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

virtual PxReal getInvMassScale1() const = 0

get the inverse mass scale for actor1.

See also

setInvMassScale1

Returns: inverse mass scale for actor1

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

virtual PxReal getInvInertiaScale1() const = 0

get the inverse inertia scale for actor1.

See also

setInvInertiaScale1

Returns: inverse inertia scale for actor1

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

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.

virtual const char *getName() const = 0

Retrieves the name string set with setName().

See also

setName()

Returns: Name string associated with object.

virtual void release() = 0: Deletes the joint.

Note

This call does not wake up the connected rigid bodies.

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.

template<class T> inline T *is()

template<class T> inline const T *is() const

inline PxType getConcreteType() const

Returns concrete type of object.

See also

PxConcreteType

Returns: PxConcreteType::Enum of serialized object

inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)

Set PxBaseFlag

Parameters

flag – [in] The flag to be set
value – [in] The flags new value

inline void setBaseFlags(PxBaseFlags inFlags)

Set PxBaseFlags

See also

PxBaseFlags

Parameters: inFlags – [in] The flags to be set

inline PxBaseFlags getBaseFlags() const

Returns PxBaseFlags.

See also

PxBaseFlags

Returns: PxBaseFlags

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

void *userData: user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Public Static Functions

static void getBinaryMetaData(PxOutputStream &stream): Put class meta data in stream, used for serialization.

Protected Functions

inline PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags): Constructor.

inline PxSphericalJoint(PxBaseFlags baseFlags): Deserialization constructor.

inline virtual bool isKindOf(const char *name) const: Returns whether a given type name matches with the type of this instance.

template<class T> inline bool typeMatch() const

Protected Attributes

PxType mConcreteType

PxBaseFlags mBaseFlags

PxU32 mBuiltInRefCount