PxD6Joint Class Reference
[Extensions]

A D6 joint is a general constraint between two actors. More...

#include <PxD6Joint.h>

Inheritance diagram for PxD6Joint:

[legend]

Collaboration diagram for PxD6Joint:

[legend]

List of all members.

Public Member Functions
virtual void	setMotion (PxD6Axis::Enum axis, PxD6Motion::Enum type)=0
	Set the motion type around the specified axis.
virtual PxD6Motion::Enum	getMotion (PxD6Axis::Enum axis) const =0
	Get the motion type around the specified axis.
virtual PxReal	getTwist () const =0
	get the twist angle of the joint
virtual PxReal	getSwingYAngle () const =0
	get the swing angle of the joint from the Y axis
virtual PxReal	getSwingZAngle () const =0
	get the swing angle of the joint from the Z axis
virtual void	setLinearLimit (const PxJointLinearLimit &limit)=0
	Set the linear limit for the joint.
virtual PxJointLinearLimit	getLinearLimit () const =0
	Get the linear limit for the joint.
virtual void	setTwistLimit (const PxJointAngularLimitPair &limit)=0
	Set the twist limit for the joint.
virtual PxJointAngularLimitPair	getTwistLimit () const =0
	Get the twist limit for the joint.
virtual void	setSwingLimit (const PxJointLimitCone &limit)=0
	Set the swing cone limit for the joint.
virtual PxJointLimitCone	getSwingLimit () const =0
	Get the cone limit for the joint.
virtual void	setDrive (PxD6Drive::Enum index, const PxD6JointDrive &drive)=0
	Set the drive parameters for the specified drive type.
virtual PxD6JointDrive	getDrive (PxD6Drive::Enum index) const =0
	Get the drive parameters for the specified drive type.
virtual void	setDrivePosition (const PxTransform &pose)=0
	Set the drive goal pose.
virtual PxTransform	getDrivePosition () const =0
	Get the drive goal pose.
virtual void	setDriveVelocity (const PxVec3 &linear, const PxVec3 &angular)=0
	Set the target goal velocity for drive.
virtual void	getDriveVelocity (PxVec3 &linear, PxVec3 &angular) const =0
	Get the target goal velocity for joint drive.
virtual void	setProjectionLinearTolerance (PxReal tolerance)=0
	Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.
virtual PxReal	getProjectionLinearTolerance () const =0
	Get the linear tolerance threshold for projection.
virtual void	setProjectionAngularTolerance (PxReal tolerance)=0
	Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.
virtual PxReal	getProjectionAngularTolerance () const =0
	Get the angular tolerance threshold for projection.
virtual const char *	getConcreteTypeName () const
	Returns string name of PxD6Joint, used for serialization.
Protected Member Functions
PX_INLINE	PxD6Joint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor.
PX_INLINE	PxD6Joint (PxBaseFlags baseFlags)
	Deserialization constructor.
virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

---

Detailed Description

A D6 joint is a general constraint between two actors.

It allows the application to individually define the linear and rotational degrees of freedom, and also to configure a variety of limits and driven degrees of freedom.

By default all degrees of freedom are locked. So to create a prismatic joint with free motion along the x-axis:

    ...
    joint->setMotion(PxD6Axis::eX, PxD6JointMotion::eFREE);
     ...

Or a Revolute joint with motion free allowed around the x-axis:

    ... 
    joint->setMotion(PxD6Axis::eTWIST, PxD6JointMotion::eFREE);
    ...

Degrees of freedom may also be set to limited instead of locked. There is a single limit value for all linear degrees of freedom, which may act as a linear, circular, or spherical limit depending on which degrees of freedom are limited.

If the twist degree of freedom is limited, is supports upper and lower limits. The two swing degrees of freedom are limited with a cone limit.

See also:

PxD6JointCreate() PxJoint

---

Constructor & Destructor Documentation

PX_INLINE PxD6Joint::PxD6Joint	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)			[inline, protected]

Constructor.

PX_INLINE PxD6Joint::PxD6Joint

(

PxBaseFlags

baseFlags

)

[inline, protected]

Deserialization constructor.

---

Member Function Documentation

virtual const char* PxD6Joint::getConcreteTypeName

(

)

const [inline, virtual]

Returns string name of PxD6Joint, used for serialization.

Implements PxBase.

virtual PxD6JointDrive PxD6Joint::getDrive

(

PxD6Drive::Enum

index

)

const [pure virtual]

Get the drive parameters for the specified drive type.

Parameters:

[in]

index

the specified drive type

See also:

setDrive() PxD6JointDrive

virtual PxTransform PxD6Joint::getDrivePosition

(

)

const [pure virtual]

Get the drive goal pose.

See also:

getDrivePosition()

virtual void PxD6Joint::getDriveVelocity	(	PxVec3 &	linear,
		PxVec3 &	angular
	)			const [pure virtual]

Get the target goal velocity for joint drive.

Parameters:

[in]	linear	The goal velocity for linear drive
[in]	angular	The goal velocity for angular drive

See also:

setDriveVelocity()

virtual PxJointLinearLimit PxD6Joint::getLinearLimit

(

)

const [pure virtual]

Get the linear limit for the joint.

Returns:

the linear limit structure

See also:

setLinearLimit() PxJointLinearLimit

virtual PxD6Motion::Enum PxD6Joint::getMotion

(

PxD6Axis::Enum

axis

)

const [pure virtual]

Get the motion type around the specified axis.

See also:

setMotion() PxD6Axis PxD6Motion

Parameters:

[in]

axis

the degree of freedom around which the motion type is specified

Returns:

the motion type around the specified axis

virtual PxReal PxD6Joint::getProjectionAngularTolerance

(

)

const [pure virtual]

Get the angular tolerance threshold for projection.

Returns:

tolerance the angular tolerance threshold in radians

See also:

setProjectionAngularTolerance()

virtual PxReal PxD6Joint::getProjectionLinearTolerance

(

)

const [pure virtual]

Get the linear tolerance threshold for projection.

Returns:

the linear tolerance threshold

See also:

setProjectionLinearTolerance()

virtual PxJointLimitCone PxD6Joint::getSwingLimit

(

)

const [pure virtual]

Get the cone limit for the joint.

Returns:

the swing limit structure

See also:

setLimitCone() PxJointLimitCone

virtual PxReal PxD6Joint::getSwingYAngle

(

)

const [pure virtual]

get the swing angle of the joint from the Y axis

virtual PxReal PxD6Joint::getSwingZAngle

(

)

const [pure virtual]

get the swing angle of the joint from the Z axis

virtual PxReal PxD6Joint::getTwist

(

)

const [pure virtual]

get the twist angle of the joint

virtual PxJointAngularLimitPair PxD6Joint::getTwistLimit

(

)

const [pure virtual]

Get the twist limit for the joint.

Returns:

the twist limit structure

See also:

setTwistLimit() PxJointAngularLimitPair

virtual bool PxD6Joint::isKindOf

(

const char *

name

)

const [inline, protected, virtual]

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

Reimplemented from PxJoint.

References PxJoint::isKindOf().

virtual void PxD6Joint::setDrive	(	PxD6Drive::Enum	index,
		const PxD6JointDrive &	drive
	)			[pure virtual]

Set the drive parameters for the specified drive type.

Parameters:

[in]	index	the type of drive being specified
[in]	drive	the drive parameters

See also:

getDrive() PxD6JointDrive

Default The default drive spring and damping values are zero, the force limit is zero, and no flags are set.

virtual void PxD6Joint::setDrivePosition

(

const PxTransform &

pose

)

[pure virtual]

Set the drive goal pose.

The goal is relative to the constraint frame of actor[0]

Default the identity transform

Parameters:

[in]

pose

The goal drive pose if positional drive is in use.

See also:

setDrivePosition()

virtual void PxD6Joint::setDriveVelocity	(	const PxVec3 &	linear,
		const PxVec3 &	angular
	)			[pure virtual]

Set the target goal velocity for drive.

The velocity is measured in the constraint frame of actor[0]

Parameters:

[in]	linear	The goal velocity for linear drive
[in]	angular	The goal velocity for angular drive

See also:

getDriveVelocity()

virtual void PxD6Joint::setLinearLimit

(

const PxJointLinearLimit &

limit

)

[pure virtual]

Set the linear limit for the joint.

A single limit constraints all linear limited degrees of freedom, forming a linear, circular or spherical constraint on motion depending on the number of limited degrees.

Parameters:

[in]

limit

the linear limit structure

See also:

getLinearLimit()

virtual void PxD6Joint::setMotion	(	PxD6Axis::Enum	axis,
		PxD6Motion::Enum	type
	)			[pure virtual]

Set the motion type around the specified axis.

Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.

Parameters:

[in]	axis	the axis around which motion is specified
[in]	type	the motion type around the specified axis

Default: all degrees of freedom are locked

See also:

getMotion() PxD6Axis PxD6Motion

virtual void PxD6Joint::setProjectionAngularTolerance

(

PxReal

tolerance

)

[pure virtual]

Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.

If the joint deviates by more than this angle around its locked angular degrees of freedom, the solver will move the bodies to close the angle.

Setting a very small tolerance may result in simulation jitter or other artifacts.

Sometimes it is not possible to project (for example when the joints form a cycle).

Range: [0,Pi]
Default: Pi

Parameters:

[in]

tolerance

the angular tolerance threshold in radians

Note:

Angular projection is implemented only for the case of two or three locked angular degrees of freedom.

See also:

getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION

virtual void PxD6Joint::setProjectionLinearTolerance

(

PxReal

tolerance

)

[pure virtual]

Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.

If the joint separates by more than this distance along its locked degrees of freedom, the solver will move the bodies to close the distance.

Setting a very small tolerance may result in simulation jitter or other artifacts.

Sometimes it is not possible to project (for example when the joints form a cycle).

Range: [0, PX_MAX_F32)
Default: 1e10f

Parameters:

[in]

tolerance

the linear tolerance threshold

See also:

getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION

virtual void PxD6Joint::setSwingLimit

(

const PxJointLimitCone &

limit

)

[pure virtual]

Set the swing cone limit for the joint.

The cone limit is used if either or both swing axes are limited. The extents are symmetrical and measured in the frame of the parent. If only one swing degree of freedom is limited, the corresponding value from the cone limit defines the limit range.

Parameters:

[in]

limit

the cone limit structure

See also:

getLimitCone() PxJointLimitCone

virtual void PxD6Joint::setTwistLimit

(

const PxJointAngularLimitPair &

limit

)

[pure virtual]

Set the twist limit for the joint.

The twist limit controls the range of motion around the twist axis.

The limit angle range is (-2*PI, 2*PI) and the extent of the limit must be strictly less than 2*PI

Parameters:

[in]

limit

the twist limit structure

See also:

getTwistLimit() PxJointAngularLimitPair

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

• PxD6Joint.h