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

NVIDIA PhysX SDK 3.4 API

PxArticulationJoint Class Reference
[Physics]

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

#include <PxArticulationJoint.h>

Inheritance diagram for PxArticulationJoint:
Collaboration diagram for PxArticulationJoint:

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:



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