PxRackAndPinionJoint

Defined in include/extensions/PxRackAndPinionJoint.h

class PxRackAndPinionJoint : public PxJoint

A joint that connects an existing revolute joint to an existing prismatic joint, and constrains their relative angular/linear velocity and position with respect to each other.

See also

PxRackAndPinionJointCreate PxJoint

Public Functions

virtual bool setJoints(const PxBase *hinge, const PxBase *prismatic) = 0

Set the hinge & prismatic joints connected by the rack & pinion joint.

The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate. The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint.

Note that these joints are only used to compute the positional error correction term, used to adjust potential drift between jointed actors. The rack & pinion joint can run without calling this function, but in that case some visible overlap may develop over time between the teeth of the rack & pinion meshes.

Note

Calling this function resets the internal positional error correction term.

Parameters

  • hinge – [in] The hinge joint (pinion)

  • prismatic – [in] The prismatic joint (rack)

Returns

true if success

virtual void getJoints(const PxBase *&hinge, const PxBase *&prismatic) const = 0

Get the hinge & prismatic joints connected by the rack & pinion joint.

Parameters

  • hinge – [out] The hinge joint (pinion)

  • prismatic – [out] The prismatic joint (rack)

virtual void setRatio(float ratio) = 0

Set the desired ratio directly.

Note

You may need to use a negative gear ratio if the joint frames of involved actors are not oriented in the same direction.

Note

Calling this function resets the internal positional error correction term.

Parameters

ratio – [in] Desired ratio between the hinge and the prismatic.

virtual float getRatio() const = 0

Get the ratio.

Returns

Current ratio

virtual bool setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength) = 0

Set the desired ratio indirectly.

This is a simple helper function that computes the ratio from passed data:

ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)

Note

Calling this function resets the internal positional error correction term.

Parameters

  • nbRackTeeth – [in] Number of teeth on the rack (cannot be zero)

  • nbPinionTeeth – [in] Number of teeth on the pinion (cannot be zero)

  • rackLength – [in] Length of the rack

Returns

true if success

inline virtual const char *getConcreteTypeName() const override

Returns string name of dynamic type.

Returns

Class name of most derived type of this object.

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 PxRackAndPinionJoint(PxType concreteType, PxBaseFlags baseFlags)
inline PxRackAndPinionJoint(PxBaseFlags baseFlags)
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