PxRevoluteJoint Class Reference
[Extensions]

A joint which behaves in a similar way to a hinge or axle. More...

#include <PxRevoluteJoint.h>

Inheritance diagram for PxRevoluteJoint:

[legend]

Collaboration diagram for PxRevoluteJoint:

[legend]

List of all members.

Public Member Functions
virtual PxReal	getAngle () const =0
	return the angle of the joint, in the range (-Pi, Pi]
virtual PxReal	getVelocity () const =0
	return the velocity of the joint
virtual void	setLimit (const PxJointAngularLimitPair &limits)=0
	set the joint limit parameters.
virtual PxJointAngularLimitPair	getLimit () const =0
	get the joint limit parameters.
virtual void	setDriveVelocity (PxReal velocity)=0
	set the target velocity for the drive model.
virtual PxReal	getDriveVelocity () const =0
	gets the target velocity for the drive model.
virtual void	setDriveForceLimit (PxReal limit)=0
	sets the maximum torque the drive can exert.
virtual PxReal	getDriveForceLimit () const =0
	gets the maximum torque the drive can exert.
virtual void	setDriveGearRatio (PxReal ratio)=0
	sets the gear ratio for the drive.
virtual PxReal	getDriveGearRatio () const =0
	gets the gear ratio.
virtual void	setRevoluteJointFlags (PxRevoluteJointFlags flags)=0
	sets the flags specific to the Revolute Joint.
virtual void	setRevoluteJointFlag (PxRevoluteJointFlag::Enum flag, bool value)=0
	sets a single flag specific to a Revolute Joint.
virtual PxRevoluteJointFlags	getRevoluteJointFlags (void) const =0
	gets the flags specific to the Revolute Joint.
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
	gets the angular tolerance threshold for projection.
virtual const char *	getConcreteTypeName () const
	Returns string name of PxRevoluteJoint, used for serialization.
Protected Member Functions
PX_INLINE	PxRevoluteJoint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor.
PX_INLINE	PxRevoluteJoint (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 joint which behaves in a similar way to a hinge or axle.

A hinge joint removes all but a single rotational degree of freedom from two objects. The axis along which the two bodies may rotate is specified with a point and a direction vector.

The position of the hinge on each body is specified by the origin of the body's joint frame. The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.

A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors. It may also be given a limit, to restrict the revolute motion to within a certain range. In addition, the bodies may be projected together if the distance or angle between them exceeds a given threshold.

Projection, drive and limits are activated by setting the appropriate flags on the joint.

See also:

PxRevoluteJointCreate() PxJoint

---

Constructor & Destructor Documentation

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

Constructor.

PX_INLINE PxRevoluteJoint::PxRevoluteJoint

(

PxBaseFlags

baseFlags

)

[inline, protected]

Deserialization constructor.

---

Member Function Documentation

virtual PxReal PxRevoluteJoint::getAngle

(

)

const [pure virtual]

return the angle of the joint, in the range (-Pi, Pi]

virtual const char* PxRevoluteJoint::getConcreteTypeName

(

)

const [inline, virtual]

Returns string name of PxRevoluteJoint, used for serialization.

Implements PxBase.

virtual PxReal PxRevoluteJoint::getDriveForceLimit

(

)

const [pure virtual]

gets the maximum torque the drive can exert.

Returns:

the torque limit

See also:

setDriveVelocity()

virtual PxReal PxRevoluteJoint::getDriveGearRatio

(

)

const [pure virtual]

gets the gear ratio.

Returns:

the drive gear ratio

See also:

setDriveGearRatio()

virtual PxReal PxRevoluteJoint::getDriveVelocity

(

)

const [pure virtual]

gets the target velocity for the drive model.

Returns:

the drive target velocity

See also:

setDriveVelocity()

virtual PxJointAngularLimitPair PxRevoluteJoint::getLimit

(

)

const [pure virtual]

get the joint limit parameters.

Returns:

the joint limit parameters

See also:

PxJointAngularLimitPair setLimit()

virtual PxReal PxRevoluteJoint::getProjectionAngularTolerance

(

)

const [pure virtual]

gets the angular tolerance threshold for projection.

Returns:

the angular tolerance threshold in radians

See also:

setProjectionAngularTolerance()

virtual PxReal PxRevoluteJoint::getProjectionLinearTolerance

(

)

const [pure virtual]

Get the linear tolerance threshold for projection.

Returns:

the linear tolerance threshold

See also:

setProjectionLinearTolerance()

virtual PxRevoluteJointFlags PxRevoluteJoint::getRevoluteJointFlags

(

void

)

const [pure virtual]

gets the flags specific to the Revolute Joint.

Returns:

the joint flags

See also:

PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()

virtual PxReal PxRevoluteJoint::getVelocity

(

)

const [pure virtual]

return the velocity of the joint

virtual bool PxRevoluteJoint::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 PxRevoluteJoint::setDriveForceLimit

(

PxReal

limit

)

[pure virtual]

sets the maximum torque the drive can exert.

Setting this to a very large value if velTarget is also very large may cause unexpected results.

The value set here may be used either as an impulse limit or a force limit, depending on the flag PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES

Range: [0, PX_MAX_F32)
Default: PX_MAX_F32

See also:

setDriveVelocity()

virtual void PxRevoluteJoint::setDriveGearRatio

(

PxReal

ratio

)

[pure virtual]

sets the gear ratio for the drive.

When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down. So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio

Range: [0, PX_MAX_F32)
Default: 1.0

Parameters:

[in]

ratio

the drive gear ratio

See also:

getDriveGearRatio()

virtual void PxRevoluteJoint::setDriveVelocity

(

PxReal

velocity

)

[pure virtual]

set the target velocity for the drive model.

The motor will only be able to reach this velocity if the maxForce is sufficiently large. If the joint is spinning faster than this velocity, the motor will actually try to brake (see PxRevoluteJointFlag::eDRIVE_FREESPIN.)

If you set this to infinity then the motor will keep speeding up, unless there is some sort of resistance on the attached bodies. The sign of this variable determines the rotation direction, with positive values going the same way as positive joint angles.

Parameters:

[in]

velocity

the drive target velocity

Range: [0, PX_MAX_F32)
Default: 0.0

See also:

PxRevoluteFlags::eDRIVE_FREESPIN

virtual void PxRevoluteJoint::setLimit

(

const PxJointAngularLimitPair &

limits

)

[pure virtual]

set the joint limit parameters.

The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED

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

Parameters:

[in]

limits

The joint limit parameters.

See also:

PxJointAngularLimitPair getLimit()

virtual void PxRevoluteJoint::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

See also:

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

virtual void PxRevoluteJoint::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 PxRevoluteJoint::setRevoluteJointFlag	(	PxRevoluteJointFlag::Enum	flag,
		bool	value
	)			[pure virtual]

sets a single flag specific to a Revolute Joint.

Parameters:

[in]	flag	The flag to set or clear.
[in]	value	the value to which to set the flag

See also:

PxRevoluteJointFlag, getFlags() setFlags()

virtual void PxRevoluteJoint::setRevoluteJointFlags

(

PxRevoluteJointFlags

flags

)

[pure virtual]

sets the flags specific to the Revolute Joint.

Default PxRevoluteJointFlags(0)

Parameters:

[in]

flags

The joint flags.

See also:

PxRevoluteJointFlag setFlag() getFlags()

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

• PxRevoluteJoint.h