PxConstraint Class Reference
[Physics]

A plugin class for implementing constraints. More...

#include <PxConstraint.h>

Inheritance diagram for PxConstraint:

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Collaboration diagram for PxConstraint:

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List of all members.


Public Member Functions
virtual void	release ()=0
	Releases a PxConstraint instance.
virtual PxScene *	getScene () const =0
	Retrieves the scene which this constraint belongs to.
virtual void	getActors (PxRigidActor &actor0, PxRigidActor &actor1) const =0
	Retrieves the actors for this constraint.
virtual void	setActors (PxRigidActor actor0, PxRigidActor actor1)=0
	Sets the actors for this constraint.
virtual void	markDirty ()=0
	Notify the scene that the constraint shader data has been updated by the application.
virtual void	setFlags (PxConstraintFlags flags)=0
	Set the flags for this constraint.
virtual PxConstraintFlags	getFlags () const =0
	Retrieve the flags for this constraint.
virtual void	setFlag (PxConstraintFlag::Enum flag, bool value)=0
	Set a flag for this constraint.
virtual void	getForce (PxVec3 &linear, PxVec3 &angular) const =0
	Retrieve the constraint force most recently applied to maintain this constraint.
virtual bool	isValid () const =0
	whether the constraint is valid.
virtual void	setBreakForce (PxReal linear, PxReal angular)=0
	Set the break force and torque thresholds for this constraint.
virtual void	getBreakForce (PxReal &linear, PxReal &angular) const =0
	Retrieve the constraint break force and torque thresholds.
virtual void	setMinResponseThreshold (PxReal threshold)=0
	Set the minimum response threshold for a constraint row.
virtual PxReal	getMinResponseThreshold () const =0
	Retrieve the constraint break force and torque thresholds.
virtual void *	getExternalReference (PxU32 &typeID)=0
	Fetch external owner of the constraint.
virtual void	setConstraintFunctions (PxConstraintConnector &connector, const PxConstraintShaderTable &shaders)=0
	Set the constraint functions for this constraint.
virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type.
Protected Member Functions
PX_INLINE	PxConstraint (PxType concreteType, PxBaseFlags baseFlags)
PX_INLINE	PxConstraint (PxBaseFlags baseFlags)
virtual	~PxConstraint ()
virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

Detailed Description

A plugin class for implementing constraints.

See also:: PxPhysics.createConstraint

Constructor & Destructor Documentation

PX_INLINE PxConstraint::PxConstraint	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)			`[inline, protected]`

PX_INLINE PxConstraint::PxConstraint ( PxBaseFlags baseFlags ) [inline, protected]

virtual PxConstraint::~PxConstraint ( ) [inline, protected, virtual]

Member Function Documentation

virtual void PxConstraint::getActors	(	PxRigidActor *&	actor0,
		PxRigidActor *&	actor1
	)			const `[pure virtual]`

Retrieves the actors for this constraint.

Parameters:

`[out]`	actor0	a reference to the pointer for the first actor
`[out]`	actor1	a reference to the pointer for the second actor

See also:: PxActor

virtual void PxConstraint::getBreakForce	(	PxReal &	linear,
		PxReal &	angular
	)			const `[pure virtual]`

Retrieve the constraint break force and torque thresholds.

Parameters:

`[out]`	linear	the linear break threshold
`[out]`	angular	the angular break threshold

virtual const char* PxConstraint::getConcreteTypeName ( ) const [inline, virtual]

Returns string name of dynamic type.

Returns:: Class name of most derived type of this object.

Implements PxBase.

virtual void* PxConstraint::getExternalReference ( PxU32 & typeID ) [pure virtual]

Fetch external owner of the constraint.

Provides a reference to the external owner of a constraint and a unique owner type ID.

Parameters:

[out] typeID Unique type identifier of the external object.

Returns:: Reference to the external object which owns the constraint.

See also:: PxConstraintConnector.getExternalReference()

virtual PxConstraintFlags PxConstraint::getFlags ( ) const [pure virtual]

Retrieve the flags for this constraint.

Returns:: the constraint flags

See also:: PxConstraintFlags

virtual void PxConstraint::getForce	(	PxVec3 &	linear,
		PxVec3 &	angular
	)			const `[pure virtual]`

Retrieve the constraint force most recently applied to maintain this constraint.

Parameters:

`[out]`	linear	the constraint force
`[out]`	angular	the constraint torque

virtual PxReal PxConstraint::getMinResponseThreshold ( ) const [pure virtual]

Retrieve the constraint break force and torque thresholds.

Returns:: the minimum response threshold for a constraint row

virtual PxScene* PxConstraint::getScene ( ) const [pure virtual]

Retrieves the scene which this constraint belongs to.

Returns:: Owner Scene. NULL if not part of a scene.

See also:: PxScene

virtual bool PxConstraint::isKindOf ( const char * superClass ) const [inline, protected, virtual]

Returns whether a given type name matches with the type of this instance.

Reimplemented from PxBase.

References PxBase::isKindOf().

virtual bool PxConstraint::isValid ( ) const [pure virtual]

whether the constraint is valid.

A constraint is valid if it has at least one dynamic rigid body or articulation link. A constraint that is not valid may not be inserted into a scene, and therefore a static actor to which an invalid constraint is attached may not be inserted into a scene.

Invalid constraints arise only when an actor to which the constraint is attached has been deleted.

virtual void PxConstraint::markDirty ( ) [pure virtual]

Notify the scene that the constraint shader data has been updated by the application.

virtual void PxConstraint::release ( ) [pure virtual]

Releases a PxConstraint instance.

Note:: This call does not wake up the connected rigid bodies.

See also:: PxPhysics.createConstraint, PxBase.release()

Implements PxBase.

virtual void PxConstraint::setActors	(	PxRigidActor *	actor0,
		PxRigidActor *	actor1
	)			`[pure virtual]`

Sets the actors for this constraint.

Parameters:

`[in]`	actor0	a reference to the pointer for the first actor
`[in]`	actor1	a reference to the pointer for the second actor

See also:: PxActor

virtual void PxConstraint::setBreakForce	(	PxReal	linear,
		PxReal	angular
	)			`[pure virtual]`

Set the break force and torque thresholds for this constraint.

If either the force or torque measured at the constraint exceed these thresholds the constraint will break.

Parameters:

`[in]`	linear	the linear break threshold
`[in]`	angular	the angular break threshold

virtual void PxConstraint::setConstraintFunctions	(	PxConstraintConnector &	connector,
		const PxConstraintShaderTable &	shaders
	)			`[pure virtual]`

Set the constraint functions for this constraint.

Parameters:

`[in]`	connector	the constraint connector object by which the SDK communicates with the constraint.
`[in]`	shaders	the shader table for the constraint

See also:: PxConstraintConnector PxConstraintSolverPrep PxConstraintProject PxConstraintVisualize

virtual void PxConstraint::setFlag	(	PxConstraintFlag::Enum	flag,
		bool	value
	)			`[pure virtual]`

Set a flag for this constraint.

Parameters:

`[in]`	flag	the constraint flag
`[in]`	value	the new value of the flag

See also:: PxConstraintFlags

virtual void PxConstraint::setFlags ( PxConstraintFlags flags ) [pure virtual]

Set the flags for this constraint.

Parameters:

[in] flags the new constraint flags

default: PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES

See also:: PxConstraintFlags

virtual void PxConstraint::setMinResponseThreshold ( PxReal threshold ) [pure virtual]

Set the minimum response threshold for a constraint row.

When using mass modification for a joint or infinite inertia for a jointed body, very stiff solver constraints can be generated which can destabilize simulation. Setting this value to a small positive value (e.g. 1e-8) will cause constraint rows to be ignored if very large changes in impulses will generate only small changes in velocity. When setting this value, also set PxConstraintFlag::eDISABLE_PREPROCESSING. The solver accuracy for this joint may be reduced.

Parameters:

[in] threshold the minimum response threshold

See also:: PxConstraintFlag::eDISABLE_PREPROCESSING

The documentation for this class was generated from the following file:

PxConstraint.h

NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxConstraint Class Reference

NVIDIA PhysX API

PxConstraint Class Reference
[Physics]

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Get in touch

NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxConstraint Class Reference

NVIDIA PhysX API

PxConstraint Class Reference [Physics]

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

PxConstraint Class Reference
[Physics]