PxD6Joint
Defined in include/extensions/PxD6Joint.h
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class PxD6Joint : public PxJoint
A D6 joint is a general constraint between two actors.
It allows the application to individually define the linear and rotational degrees of freedom, and also to configure a variety of limits and driven degrees of freedom.
By default all degrees of freedom are locked. So to create a prismatic joint with free motion along the x-axis:
... joint->setMotion(PxD6Axis::eX, PxD6JointMotion::eFREE); ...
Or a Revolute joint with motion free allowed around the x-axis:
... joint->setMotion(PxD6Axis::eTWIST, PxD6JointMotion::eFREE); ...
Degrees of freedom may also be set to limited instead of locked.
There are two different kinds of linear limits available. The first kind is a single limit value for all linear degrees of freedom, which may act as a linear, circular, or spherical limit depending on which degrees of freedom are limited. This is similar to a distance limit. Then, the second kind supports a pair of limit values for each linear axis, which can be used to implement a traditional prismatic joint for example.
If the twist degree of freedom is limited, is supports upper and lower limits. The two swing degrees of freedom are limited with a cone limit.
See also
PxD6JointCreate() PxJoint
Public Functions
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virtual void setMotion(PxD6Axis::Enum axis, PxD6Motion::Enum type) = 0
Set the motion type around the specified axis.
Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.
Default: all degrees of freedom are locked
See also
getMotion() PxD6Axis PxD6Motion
- Parameters
axis – [in] the axis around which motion is specified
type – [in] the motion type around the specified axis
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virtual PxD6Motion::Enum getMotion(PxD6Axis::Enum axis) const = 0
Get the motion type around the specified axis.
See also
setMotion() PxD6Axis PxD6Motion
- Parameters
axis – [in] the degree of freedom around which the motion type is specified
- Returns
the motion type around the specified axis
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virtual PxReal getTwistAngle() const = 0
get the twist angle of the joint, in the range (-2*Pi, 2*Pi]
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inline PxReal getTwist() const
get the twist angle of the joint
- Deprecated:
Use getTwistAngle instead. Deprecated since PhysX version 4.0
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virtual void setDistanceLimit(const PxJointLinearLimit &limit) = 0
Set the distance limit for the joint.
A single limit constraints all linear limited degrees of freedom, forming a linear, circular or spherical constraint on motion depending on the number of limited degrees. This is similar to a distance limit.
See also
getDistanceLimit() PxJointLinearLimit
- Parameters
limit – [in] the distance limit structure
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virtual PxJointLinearLimit getDistanceLimit() const = 0
Get the distance limit for the joint.
See also
setDistanceLimit() PxJointLinearLimit
- Returns
the distance limit structure
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inline void setLinearLimit(const PxJointLinearLimit &limit)
- Deprecated:
Use setDistanceLimit instead. Deprecated since PhysX version 4.0
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inline PxJointLinearLimit getLinearLimit() const
- Deprecated:
Use getDistanceLimit instead. Deprecated since PhysX version 4.0
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virtual void setLinearLimit(PxD6Axis::Enum axis, const PxJointLinearLimitPair &limit) = 0
Set the linear limit for a given linear axis.
This function extends the previous setDistanceLimit call with the following features:
there can be a different limit for each linear axis
each limit is defined by two values, i.e. it can now be asymmetric
This can be used to create prismatic joints similar to PxPrismaticJoint, or point-in-quad joints, or point-in-box joints.
See also
getLinearLimit()
- Parameters
axis – [in] The limited linear axis (must be PxD6Axis::eX, PxD6Axis::eY or PxD6Axis::eZ)
limit – [in] The linear limit pair structure
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virtual PxJointLinearLimitPair getLinearLimit(PxD6Axis::Enum axis) const = 0
Get the linear limit for a given linear axis.
See also
setLinearLimit() PxJointLinearLimit
- Parameters
axis – [in] The limited linear axis (must be PxD6Axis::eX, PxD6Axis::eY or PxD6Axis::eZ)
- Returns
the linear limit pair structure from desired axis
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virtual void setTwistLimit(const PxJointAngularLimitPair &limit) = 0
Set the twist limit for the joint.
The twist limit controls the range of motion around the twist axis.
The limit angle range is (-2*Pi, 2*Pi).
See also
getTwistLimit() PxJointAngularLimitPair
- Parameters
limit – [in] the twist limit structure
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virtual PxJointAngularLimitPair getTwistLimit() const = 0
Get the twist limit for the joint.
See also
setTwistLimit() PxJointAngularLimitPair
- Returns
the twist limit structure
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virtual void setSwingLimit(const PxJointLimitCone &limit) = 0
Set the swing cone limit for the joint.
The cone limit is used if either or both swing axes are limited. The extents are symmetrical and measured in the frame of the parent. If only one swing degree of freedom is limited, the corresponding value from the cone limit defines the limit range.
See also
getLimitCone() PxJointLimitCone
- Parameters
limit – [in] the cone limit structure
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virtual PxJointLimitCone getSwingLimit() const = 0
Get the cone limit for the joint.
See also
setLimitCone() PxJointLimitCone
- Returns
the swing limit structure
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virtual void setPyramidSwingLimit(const PxJointLimitPyramid &limit) = 0
Set a pyramidal swing limit for the joint.
The pyramid limits will only be used in the following cases:
both swing Y and Z are limited. The limit shape is then a pyramid.
Y is limited and Z is locked, or vice versa. The limit shape is an asymmetric angular section, similar to what is supported for the twist axis. The remaining cases (Y limited and Z is free, or vice versa) are not supported.
See also
getLimitCone() PxJointLimitPyramid
- Parameters
limit – [in] the cone limit structure
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virtual PxJointLimitPyramid getPyramidSwingLimit() const = 0
Get the pyramidal swing limit for the joint.
See also
setLimitCone() PxJointLimitPyramid
- Returns
the swing limit structure
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virtual void setDrive(PxD6Drive::Enum index, const PxD6JointDrive &drive) = 0
Set the drive parameters for the specified drive type.
Default The default drive spring and damping values are zero, the force limit is zero, and no flags are set.
See also
getDrive() PxD6JointDrive
- Parameters
index – [in] the type of drive being specified
drive – [in] the drive parameters
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virtual PxD6JointDrive getDrive(PxD6Drive::Enum index) const = 0
Get the drive parameters for the specified drive type.
See also
setDrive() PxD6JointDrive
- Parameters
index – [in] the specified drive type
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virtual void setDrivePosition(const PxTransform &pose, bool autowake = true) = 0
Set the drive goal pose.
The goal is relative to the constraint frame of actor[0]
Default the identity transform
See also
setDrivePosition()
- Parameters
pose – [in] The goal drive pose if positional drive is in use.
autowake – [in] If true and the attached actors are in a scene, this call wakes them up and increases their wake counters to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.
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virtual PxTransform getDrivePosition() const = 0
Get the drive goal pose.
See also
getDrivePosition()
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virtual void setDriveVelocity(const PxVec3 &linear, const PxVec3 &angular, bool autowake = true) = 0
Set the target goal velocity for drive.
The velocity is measured in the constraint frame of actor[0]
See also
getDriveVelocity()
- Parameters
linear – [in] The goal velocity for linear drive
angular – [in] The goal velocity for angular drive
autowake – [in] If true and the attached actors are in a scene, this call wakes them up and increases their wake counters to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.
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virtual void getDriveVelocity(PxVec3 &linear, PxVec3 &angular) const = 0
Get the target goal velocity for joint drive.
See also
setDriveVelocity()
- Parameters
linear – [in] The goal velocity for linear drive
angular – [in] The goal velocity for angular drive
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inline virtual const char *getConcreteTypeName() const override
Returns string name of PxD6Joint, used for serialization.
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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
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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
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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
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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.
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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
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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
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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
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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
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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
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virtual void setConstraintFlags(PxConstraintFlags flags) = 0
set the constraint flags for this joint.
See also
PxConstraintFlag
- Parameters
flags – [in] the constraint flags
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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
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virtual PxConstraintFlags getConstraintFlags() const = 0
get the constraint flags for this joint.
See also
PxConstraintFlag
- Returns
the constraint flags
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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
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virtual PxReal getInvMassScale0() const = 0
get the inverse mass scale for actor0.
See also
setInvMassScale0
- Returns
inverse mass scale for actor0
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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
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virtual PxReal getInvInertiaScale0() const = 0
get the inverse inertia scale for actor0.
See also
setInvInertiaScale0
- Returns
inverse inertia scale for actor0
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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
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virtual PxReal getInvMassScale1() const = 0
get the inverse mass scale for actor1.
See also
setInvMassScale1
- Returns
inverse mass scale for actor1
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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
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virtual PxReal getInvInertiaScale1() const = 0
get the inverse inertia scale for actor1.
See also
setInvInertiaScale1
- Returns
inverse inertia scale for actor1
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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
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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.
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virtual const char *getName() const = 0
Retrieves the name string set with setName().
See also
setName()
- Returns
Name string associated with object.
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virtual void release() = 0
Deletes the joint.
Note
This call does not wake up the connected rigid bodies.
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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.
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inline PxType getConcreteType() const
Returns concrete type of object.
See also
PxConcreteType
- Returns
PxConcreteType::Enum of serialized object
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inline void setBaseFlag(PxBaseFlag::Enum flag, bool value)
Set PxBaseFlag
- Parameters
flag – [in] The flag to be set
value – [in] The flags new value
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inline void setBaseFlags(PxBaseFlags inFlags)
Set PxBaseFlags
See also
PxBaseFlags
- Parameters
inFlags – [in] The flags to be set
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inline PxBaseFlags getBaseFlags() const
Returns PxBaseFlags.
See also
PxBaseFlags
- Returns
PxBaseFlags
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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
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void *userData
user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Public Static Functions
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static void getBinaryMetaData(PxOutputStream &stream)
Put class meta data in stream, used for serialization.
Protected Functions
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inline PxD6Joint(PxType concreteType, PxBaseFlags baseFlags)
Constructor.
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inline PxD6Joint(PxBaseFlags baseFlags)
Deserialization constructor.
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inline virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
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template<class T>
inline bool typeMatch() const
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virtual void setMotion(PxD6Axis::Enum axis, PxD6Motion::Enum type) = 0