PxArticulationJoint Class Reference
[Physics]

a joint between two links in an articulation. More...

#include <PxArticulationJoint.h>

Inheritance diagram for PxArticulationJoint:

[legend]

Collaboration diagram for PxArticulationJoint:

[legend]

List of all members.

Public Member Functions
virtual void	setParentPose (const PxTransform &pose)=0
	set the joint pose in the parent frame
virtual PxTransform	getParentPose () const =0
	get the joint pose in the parent frame
virtual void	setChildPose (const PxTransform &pose)=0
	set the joint pose in the child frame
virtual PxTransform	getChildPose () const =0
	get the joint pose in the child frame
virtual void	setTargetOrientation (const PxQuat &orientation)=0
	set the target drive
virtual PxQuat	getTargetOrientation () const =0
	get the target drive position
virtual void	setTargetVelocity (const PxVec3 &velocity)=0
	set the target drive velocity
virtual PxVec3	getTargetVelocity () const =0
	get the target drive velocity
virtual void	setDriveType (PxArticulationJointDriveType::Enum driveType)=0
	set the drive type
virtual PxArticulationJointDriveType::Enum	getDriveType () const =0
	get the drive type
virtual void	setStiffness (PxReal spring)=0
	set the drive strength of the joint acceleration spring.
virtual PxReal	getStiffness () const =0
	get the drive strength of the joint acceleration spring
virtual void	setDamping (PxReal damping)=0
	set the damping of the joint acceleration spring
virtual PxReal	getDamping () const =0
	get the damping of the joint acceleration spring
virtual void	setInternalCompliance (PxReal compliance)=0
	set the internal compliance
virtual PxReal	getInternalCompliance () const =0
	get the internal compliance
virtual void	setExternalCompliance (PxReal compliance)=0
	get the drive external compliance
virtual PxReal	getExternalCompliance () const =0
	get the drive external compliance
virtual void	setSwingLimit (PxReal zLimit, PxReal yLimit)=0
	set the extents of the cone limit. The extents are measured in the frame of the parent.
virtual void	getSwingLimit (PxReal &zLimit, PxReal &yLimit) const =0
	get the extents for the swing limit cone
virtual void	setTangentialStiffness (PxReal spring)=0
	set the tangential spring for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)
virtual PxReal	getTangentialStiffness () const =0
	get the tangential spring for the swing limit cone
virtual void	setTangentialDamping (PxReal damping)=0
	set the tangential damping for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)
virtual PxReal	getTangentialDamping () const =0
	get the tangential damping for the swing limit cone
virtual void	setSwingLimitContactDistance (PxReal contactDistance)=0
	set the contact distance for the swing limit
virtual PxReal	getSwingLimitContactDistance () const =0
	get the contact distance for the swing limit
virtual void	setSwingLimitEnabled (bool enabled)=0
	set the flag which enables the swing limit
virtual bool	getSwingLimitEnabled () const =0
	get the flag which enables the swing limit
virtual void	setTwistLimit (PxReal lower, PxReal upper)=0
	set the bounds of the twistLimit
virtual void	getTwistLimit (PxReal &lower, PxReal &upper) const =0
	get the bounds of the twistLimit
virtual void	setTwistLimitEnabled (bool enabled)=0
	set the flag which enables the twist limit
virtual bool	getTwistLimitEnabled () const =0
	get the twistLimitEnabled flag
virtual void	setTwistLimitContactDistance (PxReal contactDistance)=0
	set the contact distance for the swing limit
virtual PxReal	getTwistLimitContactDistance () const =0
	get the contact distance for the swing limit
virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type.
Protected Member Functions
PX_INLINE	PxArticulationJoint (PxType concreteType, PxBaseFlags baseFlags)
PX_INLINE	PxArticulationJoint (PxBaseFlags baseFlags)
virtual	~PxArticulationJoint ()
virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

---

Detailed Description

a joint between two links in an articulation.

The joint model is very similar to a PxSphericalJoint with swing and twist limits, and an implicit drive model.

See also:

PxArticulation PxArticulationLink

---

Constructor & Destructor Documentation

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

PX_INLINE PxArticulationJoint::PxArticulationJoint

(

PxBaseFlags

baseFlags

)

[inline, protected]

virtual PxArticulationJoint::~PxArticulationJoint

(

)

[inline, protected, virtual]

---

Member Function Documentation

virtual PxTransform PxArticulationJoint::getChildPose

(

)

const [pure virtual]

get the joint pose in the child frame

Returns:

the joint pose in the child frame

See also:

setChildPose()

virtual const char* PxArticulationJoint::getConcreteTypeName

(

)

const [inline, virtual]

Returns string name of dynamic type.

Returns:

Class name of most derived type of this object.

Implements PxBase.

virtual PxReal PxArticulationJoint::getDamping

(

)

const [pure virtual]

get the damping of the joint acceleration spring

See also:

setDamping()

virtual PxArticulationJointDriveType::Enum PxArticulationJoint::getDriveType

(

)

const [pure virtual]

get the drive type

Returns:

the drive type

See also:

setDriveType()

virtual PxReal PxArticulationJoint::getExternalCompliance

(

)

const [pure virtual]

get the drive external compliance

Returns:

the compliance to external forces

See also:

setExternalCompliance()

virtual PxReal PxArticulationJoint::getInternalCompliance

(

)

const [pure virtual]

get the internal compliance

Returns:

the compliance to internal forces

See also:

setInternalCompliance()

virtual PxTransform PxArticulationJoint::getParentPose

(

)

const [pure virtual]

get the joint pose in the parent frame

Returns:

the joint pose in the parent frame

See also:

setParentPose()

virtual PxReal PxArticulationJoint::getStiffness

(

)

const [pure virtual]

get the drive strength of the joint acceleration spring

Returns:

the spring strength of the joint

See also:

setStiffness()

virtual void PxArticulationJoint::getSwingLimit	(	PxReal &	zLimit,
		PxReal &	yLimit
	)			const [pure virtual]

get the extents for the swing limit cone

Parameters:

[out]	zLimit	the allowed extent of rotation around the z-axis
[out]	yLimit	the allowed extent of rotation around the y-axis

Note:

Please note the order of zLimit and yLimit.

See also:

setSwingLimit()

virtual PxReal PxArticulationJoint::getSwingLimitContactDistance

(

)

const [pure virtual]

get the contact distance for the swing limit

Returns:

the contact distance for the swing limit cone

See also:

setSwingLimitContactDistance()

virtual bool PxArticulationJoint::getSwingLimitEnabled

(

)

const [pure virtual]

get the flag which enables the swing limit

Returns:

whether the swing limit is enabled

See also:

setSwingLimitEnabled()

virtual PxReal PxArticulationJoint::getTangentialDamping

(

)

const [pure virtual]

get the tangential damping for the swing limit cone

Returns:

the tangential damping

See also:

setTangentialDamping()

virtual PxReal PxArticulationJoint::getTangentialStiffness

(

)

const [pure virtual]

get the tangential spring for the swing limit cone

Returns:

the tangential spring

See also:

setTangentialStiffness()

virtual PxQuat PxArticulationJoint::getTargetOrientation

(

)

const [pure virtual]

get the target drive position

Returns:

the joint drive target position

See also:

setTargetOrientation()

virtual PxVec3 PxArticulationJoint::getTargetVelocity

(

)

const [pure virtual]

get the target drive velocity

Returns:

the target velocity for the joint

See also:

setTargetVelocity()

virtual void PxArticulationJoint::getTwistLimit	(	PxReal &	lower,
		PxReal &	upper
	)			const [pure virtual]

get the bounds of the twistLimit

Parameters:

[out]	lower	the lower extent of the twist limit
[out]	upper	the upper extent of the twist limit

See also:

setTwistLimit()

virtual PxReal PxArticulationJoint::getTwistLimitContactDistance

(

)

const [pure virtual]

get the contact distance for the swing limit

Returns:

the contact distance for the twist limit

See also:

setTwistLimitContactDistance()

virtual bool PxArticulationJoint::getTwistLimitEnabled

(

)

const [pure virtual]

get the twistLimitEnabled flag

Returns:

whether the twist limit is enabled

See also:

setTwistLimitEnabled()

virtual bool PxArticulationJoint::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 void PxArticulationJoint::setChildPose

(

const PxTransform &

pose

)

[pure virtual]

set the joint pose in the child frame

Parameters:

[in]

pose

the joint pose in the child frame Default: the identity matrix

See also:

getChildPose()

virtual void PxArticulationJoint::setDamping

(

PxReal

damping

)

[pure virtual]

set the damping of the joint acceleration spring

The acceleration generated by the spring drive is proportional to this value and the difference between the angular velocity of the joint and the target drive velocity.

Parameters:

[in]

damping

the damping of the joint drive Range: [0, PX_MAX_F32) Default: 0.0

See also:

getDamping()

virtual void PxArticulationJoint::setDriveType

(

PxArticulationJointDriveType::Enum

driveType

)

[pure virtual]

set the drive type

Parameters:

[in]

driveType

the drive type for the joint Default: PxArticulationJointDriveType::eTARGET

See also:

getDriveType()

virtual void PxArticulationJoint::setExternalCompliance

(

PxReal

compliance

)

[pure virtual]

get the drive external compliance

Compliance determines the extent to which the joint resists acceleration.

There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.

A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.

Parameters:

[in]

compliance

the compliance to external forces Range: (0, 1] Default: 0.0

See also:

getExternalCompliance()

virtual void PxArticulationJoint::setInternalCompliance

(

PxReal

compliance

)

[pure virtual]

set the internal compliance

Compliance determines the extent to which the joint resists acceleration.

There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.

A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.

Parameters:

[in]

compliance

the compliance to internal forces Range: (0, 1] Default: 0.0

See also:

getInternalCompliance()

virtual void PxArticulationJoint::setParentPose

(

const PxTransform &

pose

)

[pure virtual]

set the joint pose in the parent frame

Parameters:

[in]

pose

the joint pose in the parent frame Default: the identity matrix

See also:

getParentPose()

virtual void PxArticulationJoint::setStiffness

(

PxReal

spring

)

[pure virtual]

set the drive strength of the joint acceleration spring.

The acceleration generated by the spring drive is proportional to this value and the angle between the drive target position and the current position.

Parameters:

[in]

spring

the spring strength of the joint Range: [0, PX_MAX_F32) Default: 0.0

See also:

getStiffness()

virtual void PxArticulationJoint::setSwingLimit	(	PxReal	zLimit,
		PxReal	yLimit
	)			[pure virtual]

set the extents of the cone limit. The extents are measured in the frame of the parent.

Note that very small or highly elliptical limit cones may result in jitter.

Parameters:

[in]	zLimit	the allowed extent of rotation around the z-axis
[in]	yLimit	the allowed extent of rotation around the y-axis Range: ( (0, Pi), (0, Pi) ) Default: (Pi/4, Pi/4)

Note:

Please note the order of zLimit and yLimit.

virtual void PxArticulationJoint::setSwingLimitContactDistance

(

PxReal

contactDistance

)

[pure virtual]

set the contact distance for the swing limit

The contact distance should be less than either limit angle.

Range: [0, Pi] Default: 0.05 radians

See also:

getSwingLimitContactDistance()

virtual void PxArticulationJoint::setSwingLimitEnabled

(

bool

enabled

)

[pure virtual]

set the flag which enables the swing limit

Parameters:

[in]

enabled

whether the limit is enabled Default: false

See also:

getSwingLimitEnabled()

virtual void PxArticulationJoint::setTangentialDamping

(

PxReal

damping

)

[pure virtual]

set the tangential damping for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)

virtual void PxArticulationJoint::setTangentialStiffness

(

PxReal

spring

)

[pure virtual]

set the tangential spring for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)

virtual void PxArticulationJoint::setTargetOrientation

(

const PxQuat &

orientation

)

[pure virtual]

set the target drive

This is the target position for the joint drive, measured in the parent constraint frame.

Parameters:

[in]

orientation

the target orientation for the joint Range: a unit quaternion Default: the identity quaternion

See also:

getTargetOrientation()

virtual void PxArticulationJoint::setTargetVelocity

(

const PxVec3 &

velocity

)

[pure virtual]

set the target drive velocity

This is the target velocity for the joint drive, measured in the parent constraint frame

Parameters:

[in]

velocity

the target velocity for the joint Default: the zero vector

See also:

getTargetVelocity()

virtual void PxArticulationJoint::setTwistLimit	(	PxReal	lower,
		PxReal	upper
	)			[pure virtual]

set the bounds of the twistLimit

Parameters:

[in]	lower	the lower extent of the twist limit
[in]	upper	the upper extent of the twist limit Range: (-Pi, Pi) Default: (-Pi/4, Pi/4)

The lower limit value must be less than the upper limit if the limit is enabled

See also:

getTwistLimit()

virtual void PxArticulationJoint::setTwistLimitContactDistance

(

PxReal

contactDistance

)

[pure virtual]

set the contact distance for the swing limit

The contact distance should be less than half the distance between the upper and lower limits.

Range: [0, Pi) Default: 0.05 radians

See also:

getTwistLimitContactDistance()

virtual void PxArticulationJoint::setTwistLimitEnabled

(

bool

enabled

)

[pure virtual]

set the flag which enables the twist limit

Parameters:

[in]

enabled

whether the twist limit is enabled Default: false

See also:

getTwistLimitEnabled()

---

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

• PxArticulationJoint.h