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:

[legend]

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.

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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]

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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

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

• PxConstraint.h