PxJoint Class Reference
[Extensions]

a base interface providing common functionality for PhysX joints More...

#include <PxJoint.h>

Inheritance diagram for PxJoint:

[legend]

Collaboration diagram for PxJoint:

[legend]

List of all members.

Public Member Functions
virtual void	setActors (PxRigidActor *actor0, PxRigidActor *actor1)=0
	Set the actors for this joint.
virtual void	getActors (PxRigidActor *&actor0, PxRigidActor *&actor1) const =0
	Get the actors for this joint.
virtual void	setLocalPose (PxJointActorIndex::Enum actor, const PxTransform &localPose)=0
	Set the joint local pose for an actor.
virtual PxTransform	getLocalPose (PxJointActorIndex::Enum actor) const =0
	get the joint local pose for an actor.
virtual PxTransform	getRelativeTransform () const =0
	get the relative pose for this joint
virtual PxVec3	getRelativeLinearVelocity () const =0
	get the relative linear velocity of the joint
virtual PxVec3	getRelativeAngularVelocity () const =0
	get the relative angular velocity of the joint
virtual void	setBreakForce (PxReal force, PxReal torque)=0
	set the break force for this joint.
virtual void	getBreakForce (PxReal &force, PxReal &torque) const =0
	get the break force for this joint.
virtual void	setConstraintFlags (PxConstraintFlags flags)=0
	set the constraint flags for this joint.
virtual void	setConstraintFlag (PxConstraintFlag::Enum flag, bool value)=0
	set a constraint flags for this joint to a specified value.
virtual PxConstraintFlags	getConstraintFlags () const =0
	get the constraint flags for this joint.
virtual void	setInvMassScale0 (PxReal invMassScale)=0
	set the inverse mass scale for actor0.
virtual PxReal	getInvMassScale0 () const =0
	get the inverse mass scale for actor0.
virtual void	setInvInertiaScale0 (PxReal invInertiaScale)=0
	set the inverse inertia scale for actor0.
virtual PxReal	getInvInertiaScale0 () const =0
	get the inverse inertia scale for actor0.
virtual void	setInvMassScale1 (PxReal invMassScale)=0
	set the inverse mass scale for actor1.
virtual PxReal	getInvMassScale1 () const =0
	get the inverse mass scale for actor1.
virtual void	setInvInertiaScale1 (PxReal invInertiaScale)=0
	set the inverse inertia scale for actor1.
virtual PxReal	getInvInertiaScale1 () const =0
	get the inverse inertia scale for actor1.
virtual PxConstraint *	getConstraint () const =0
	Retrieves the PxConstraint corresponding to this joint.
virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName().
virtual const char *	getName () const =0
	Retrieves the name string set with setName().
virtual void	release ()=0
	Deletes the joint.
virtual PxScene *	getScene () const =0
	Retrieves the scene which this joint belongs to.
Static Public Member Functions
static void	getBinaryMetaData (PxOutputStream &stream)
	Put class meta data in stream, used for serialization.
Public Attributes
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object.
Protected Member Functions
virtual	~PxJoint ()
PX_INLINE	PxJoint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor.
PX_INLINE	PxJoint (PxBaseFlags baseFlags)
	Deserialization constructor.
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 base interface providing common functionality for PhysX joints

---

Constructor & Destructor Documentation

virtual PxJoint::~PxJoint

(

)

[inline, protected, virtual]

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

Constructor.

PX_INLINE PxJoint::PxJoint

(

PxBaseFlags

baseFlags

)

[inline, protected]

Deserialization constructor.

---

Member Function Documentation

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

Get the actors for this joint.

Parameters:

[out]	actor0	the first actor.
[out]	actor1	the second actor

See also:

setActors()

static void PxJoint::getBinaryMetaData

(

PxOutputStream &

stream

)

[static]

Put class meta data in stream, used for serialization.

virtual void PxJoint::getBreakForce	(	PxReal &	force,
		PxReal &	torque
	)			const [pure virtual]

get the break force for this joint.

Parameters:

[out]	force	the maximum force the joint can apply before breaking
[out]	torque	the maximum torque the joint can apply before breaking

See also:

setBreakForce()

virtual PxConstraint* PxJoint::getConstraint

(

)

const [pure virtual]

Retrieves the PxConstraint corresponding to this joint.

This can be used to determine, among other things, the force applied at the joint.

Returns:

the constraint

virtual PxConstraintFlags PxJoint::getConstraintFlags

(

)

const [pure virtual]

get the constraint flags for this joint.

Returns:

the constraint flags

See also:

PxConstraintFlag

virtual PxReal PxJoint::getInvInertiaScale0

(

)

const [pure virtual]

get the inverse inertia scale for actor0.

Returns:

inverse inertia scale for actor0

See also:

setInvInertiaScale0

virtual PxReal PxJoint::getInvInertiaScale1

(

)

const [pure virtual]

get the inverse inertia scale for actor1.

Returns:

inverse inertia scale for actor1

See also:

setInvInertiaScale1

virtual PxReal PxJoint::getInvMassScale0

(

)

const [pure virtual]

get the inverse mass scale for actor0.

Returns:

inverse mass scale for actor0

See also:

setInvMassScale0

virtual PxReal PxJoint::getInvMassScale1

(

)

const [pure virtual]

get the inverse mass scale for actor1.

Returns:

inverse mass scale for actor1

See also:

setInvMassScale1

virtual PxTransform PxJoint::getLocalPose

(

PxJointActorIndex::Enum

actor

)

const [pure virtual]

get the joint local pose for an actor.

Parameters:

[in]

actor

0 for the first actor, 1 for the second actor.

return the local pose for this joint

See also:

setLocalPose()

virtual const char* PxJoint::getName

(

)

const [pure virtual]

Retrieves the name string set with setName().

Returns:

Name string associated with object.

See also:

setName()

virtual PxVec3 PxJoint::getRelativeAngularVelocity

(

)

const [pure virtual]

get the relative angular velocity of the joint

This function returns the angular velocity of actor1 relative to actor0. The value is returned in the constraint frame of actor0

virtual PxVec3 PxJoint::getRelativeLinearVelocity

(

)

const [pure virtual]

get the relative linear velocity of the joint

This function returns the linear velocity of the origin of the constraint frame of actor1, relative to the origin of the constraint frame of actor0. The value is returned in the constraint frame of actor0

virtual PxTransform PxJoint::getRelativeTransform

(

)

const [pure virtual]

get the relative pose for this joint

This function returns the pose of the joint frame of actor1 relative to actor0

virtual PxScene* PxJoint::getScene

(

)

const [pure virtual]

Retrieves the scene which this joint belongs to.

Returns:

Owner Scene. NULL if not part of a scene.

See also:

PxScene

virtual bool PxJoint::isKindOf

(

const char *

name

)

const [inline, protected, virtual]

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

Reimplemented from PxBase.

Reimplemented in PxD6Joint, PxDistanceJoint, PxFixedJoint, PxPrismaticJoint, PxRevoluteJoint, and PxSphericalJoint.

References PxBase::isKindOf().

Referenced by PxSphericalJoint::isKindOf(), PxRevoluteJoint::isKindOf(), PxPrismaticJoint::isKindOf(), PxFixedJoint::isKindOf(), PxDistanceJoint::isKindOf(), and PxD6Joint::isKindOf().

virtual void PxJoint::release

(

)

[pure virtual]

Deletes the joint.

Note:

This call does not wake up the connected rigid bodies.

Implements PxBase.

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

Set the actors for this joint.

An actor may be NULL to indicate the world frame. At most one of the actors may be NULL.

Parameters:

[in]	actor0	the first actor.
[in]	actor1	the second actor

See also:

getActors()

virtual void PxJoint::setBreakForce	(	PxReal	force,
		PxReal	torque
	)			[pure virtual]

set the break force for this joint.

if the constraint force or torque on the joint exceeds the specified values, the joint will break, at which point it will not constrain the two actors and the flag PxConstraintFlag::eBROKEN will be set. The force and torque are measured in the joint frame of the first actor

Parameters:

[in]	force	the maximum force the joint can apply before breaking
[in]	torque	the maximum torque the joint can apply before breaking

virtual void PxJoint::setConstraintFlag	(	PxConstraintFlag::Enum	flag,
		bool	value
	)			[pure virtual]

set a constraint flags for this joint to a specified value.

Parameters:

[in]	flag	the constraint flag
[in]	value	the value to which to set the flag

See also:

PxConstraintFlag

virtual void PxJoint::setConstraintFlags

(

PxConstraintFlags

flags

)

[pure virtual]

set the constraint flags for this joint.

Parameters:

[in]

flags

the constraint flags

See also:

PxConstraintFlag

virtual void PxJoint::setInvInertiaScale0

(

PxReal

invInertiaScale

)

[pure virtual]

set the inverse inertia scale for actor0.

Parameters:

[in]

invInertiaScale

the scale to apply to the inverse inertia of actor0 for resolving this constraint

See also:

getInvMassScale0

virtual void PxJoint::setInvInertiaScale1

(

PxReal

invInertiaScale

)

[pure virtual]

set the inverse inertia scale for actor1.

Parameters:

[in]

invInertiaScale

the scale to apply to the inverse inertia of actor1 for resolving this constraint

See also:

getInvInertiaScale1

virtual void PxJoint::setInvMassScale0

(

PxReal

invMassScale

)

[pure virtual]

set the inverse mass scale for actor0.

Parameters:

[in]

invMassScale

the scale to apply to the inverse mass of actor 0 for resolving this constraint

See also:

getInvMassScale0

virtual void PxJoint::setInvMassScale1

(

PxReal

invMassScale

)

[pure virtual]

set the inverse mass scale for actor1.

Parameters:

[in]

invMassScale

the scale to apply to the inverse mass of actor 1 for resolving this constraint

See also:

getInvMassScale1

virtual void PxJoint::setLocalPose	(	PxJointActorIndex::Enum	actor,
		const PxTransform &	localPose
	)			[pure virtual]

Set the joint local pose for an actor.

This is the relative pose which locates the joint frame relative to the actor.

Parameters:

[in]	actor	0 for the first actor, 1 for the second actor.
[in]	localPose	the local pose for the actor this joint

See also:

getLocalPose()

virtual void PxJoint::setName

(

const char *

name

)

[pure virtual]

Sets a name string for the object that can be retrieved with getName().

This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.

Parameters:

[in]

name

String to set the objects name to.

See also:

getName()

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Member Data Documentation

void* PxJoint::userData

user can assign this to whatever, usually to create a 1:1 relationship with a user object.

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

• PxJoint.h