A plugin class for implementing constraints. More...

#include <PxConstraint.h>

Inheritance diagram for PxConstraint:

Collaboration diagram for PxConstraint:

Public Member Functions
virtual void	release ()=0
	Releases a PxConstraint instance. More...

virtual PxScene *	getScene () const =0
	Retrieves the scene which this constraint belongs to. More...

virtual void	getActors (PxRigidActor &actor0, PxRigidActor &actor1) const =0
	Retrieves the actors for this constraint. More...

virtual void	setActors (PxRigidActor actor0, PxRigidActor actor1)=0
	Sets the actors for this constraint. More...

virtual void	markDirty ()=0
	Notify the scene that the constraint shader data has been updated by the application. More...

virtual void	setFlags (PxConstraintFlags flags)=0
	Set the flags for this constraint. More...

virtual PxConstraintFlags	getFlags () const =0
	Retrieve the flags for this constraint. More...

virtual void	setFlag (PxConstraintFlag::Enum flag, bool value)=0
	Set a flag for this constraint. More...

virtual void	getForce (PxVec3 &linear, PxVec3 &angular) const =0
	Retrieve the constraint force most recently applied to maintain this constraint. More...

virtual bool	isValid () const =0
	whether the constraint is valid. More...

virtual void	setBreakForce (PxReal linear, PxReal angular)=0
	Set the break force and torque thresholds for this constraint. More...

virtual void	getBreakForce (PxReal &linear, PxReal &angular) const =0
	Retrieve the constraint break force and torque thresholds. More...

virtual void	setMinResponseThreshold (PxReal threshold)=0
	Set the minimum response threshold for a constraint row. More...

virtual PxReal	getMinResponseThreshold () const =0
	Retrieve the constraint break force and torque thresholds. More...

virtual void *	getExternalReference (PxU32 &typeID)=0
	Fetch external owner of the constraint. More...

virtual void	setConstraintFunctions (PxConstraintConnector &connector, const PxConstraintShaderTable &shaders)=0
	Set the constraint functions for this constraint. More...

virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type. More...

Public Member Functions inherited from PxBase
template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object. More...

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag. More...

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags. More...

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags. More...

virtual bool	isReleasable () const
	Whether the object is subordinate. More...

Protected Member Functions
PX_INLINE	PxConstraint (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxConstraint (PxBaseFlags baseFlags)

virtual	~PxConstraint ()

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance. More...

Protected Member Functions inherited from PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags. More...

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags. More...

virtual	~PxBase ()
	Destructor. More...

template<class T >
bool	typeMatch () const

Additional Inherited Members
Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

A plugin class for implementing constraints.

See also: PxPhysics.createConstraint

Constructor & Destructor Documentation

◆ PxConstraint() [1/2]

PX_INLINE PxConstraint::PxConstraint	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)

inlineprotected

◆ PxConstraint() [2/2]

PX_INLINE PxConstraint::PxConstraint ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxConstraint()

virtual PxConstraint::~PxConstraint ( )

inlineprotectedvirtual

Member Function Documentation

◆ getActors()

virtual void PxConstraint::getActors	(	PxRigidActor *&	actor0,
		PxRigidActor *&	actor1
	)		const

pure virtual

Retrieves the actors for this constraint.

Parameters

[out]	actor0	a reference to the pointer for the first actor
[out]	actor1	a reference to the pointer for the second actor

See also: PxActor

◆ getBreakForce()

virtual void PxConstraint::getBreakForce	(	PxReal &	linear,
		PxReal &	angular
	)		const

pure virtual

Retrieve the constraint break force and torque thresholds.

Parameters

[out]	linear	the linear break threshold
[out]	angular	the angular break threshold

◆ getConcreteTypeName()

virtual const char* PxConstraint::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

Returns: Class name of most derived type of this object.

Implements PxBase.

◆ getExternalReference()

virtual void* PxConstraint::getExternalReference ( PxU32 & typeID )

pure virtual

Fetch external owner of the constraint.

Provides a reference to the external owner of a constraint and a unique owner type ID.

Parameters

[out] typeID Unique type identifier of the external object.

Returns: Reference to the external object which owns the constraint.

See also: PxConstraintConnector.getExternalReference()

◆ getFlags()

virtual PxConstraintFlags PxConstraint::getFlags ( ) const

pure virtual

Retrieve the flags for this constraint.

Returns: the constraint flags

See also: PxConstraintFlags

◆ getForce()

virtual void PxConstraint::getForce	(	PxVec3 &	linear,
		PxVec3 &	angular
	)		const

pure virtual

Retrieve the constraint force most recently applied to maintain this constraint.

Parameters

[out]	linear	the constraint force
[out]	angular	the constraint torque

◆ getMinResponseThreshold()

virtual PxReal PxConstraint::getMinResponseThreshold ( ) const

pure virtual

Retrieve the constraint break force and torque thresholds.

Returns: the minimum response threshold for a constraint row

◆ getScene()

virtual PxScene* PxConstraint::getScene ( ) const

pure virtual

Retrieves the scene which this constraint belongs to.

Returns: Owner Scene. NULL if not part of a scene.

See also: PxScene

◆ isKindOf()

virtual bool PxConstraint::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

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

Reimplemented from PxBase.

References PxBase::isKindOf().

◆ isValid()

virtual bool PxConstraint::isValid ( ) const

pure virtual

whether the constraint is valid.

A constraint is valid if it has at least one dynamic rigid body or articulation link. A constraint that is not valid may not be inserted into a scene, and therefore a static actor to which an invalid constraint is attached may not be inserted into a scene.

Invalid constraints arise only when an actor to which the constraint is attached has been deleted.

◆ markDirty()

virtual void PxConstraint::markDirty ( )

pure virtual

Notify the scene that the constraint shader data has been updated by the application.

◆ release()

virtual void PxConstraint::release ( )

pure virtual

Releases a PxConstraint instance.

Note: This call does not wake up the connected rigid bodies.

See also: PxPhysics.createConstraint, PxBase.release()

Implements PxBase.

◆ setActors()

virtual void PxConstraint::setActors	(	PxRigidActor *	actor0,
		PxRigidActor *	actor1
	)

pure virtual

Sets the actors for this constraint.

Parameters

[in]	actor0	a reference to the pointer for the first actor
[in]	actor1	a reference to the pointer for the second actor

See also: PxActor

◆ setBreakForce()

virtual void PxConstraint::setBreakForce	(	PxReal	linear,
		PxReal	angular
	)

pure virtual

Set the break force and torque thresholds for this constraint.

If either the force or torque measured at the constraint exceed these thresholds the constraint will break.

Parameters

[in]	linear	the linear break threshold
[in]	angular	the angular break threshold

◆ setConstraintFunctions()

virtual void PxConstraint::setConstraintFunctions	(	PxConstraintConnector &	connector,
		const PxConstraintShaderTable &	shaders
	)

pure virtual

Set the constraint functions for this constraint.

Parameters

[in]	connector	the constraint connector object by which the SDK communicates with the constraint.
[in]	shaders	the shader table for the constraint

See also: PxConstraintConnector PxConstraintSolverPrep PxConstraintProject PxConstraintVisualize

◆ setFlag()

virtual void PxConstraint::setFlag	(	PxConstraintFlag::Enum	flag,
		bool	value
	)

pure virtual

Set a flag for this constraint.

Parameters

[in]	flag	the constraint flag
[in]	value	the new value of the flag

See also: PxConstraintFlags

◆ setFlags()

virtual void PxConstraint::setFlags ( PxConstraintFlags flags )

pure virtual

Set the flags for this constraint.

Parameters

[in] flags the new constraint flags

default: PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES

See also: PxConstraintFlags

◆ setMinResponseThreshold()

virtual void PxConstraint::setMinResponseThreshold ( PxReal threshold )

pure virtual

Set the minimum response threshold for a constraint row.

When using mass modification for a joint or infinite inertia for a jointed body, very stiff solver constraints can be generated which can destabilize simulation. Setting this value to a small positive value (e.g. 1e-8) will cause constraint rows to be ignored if very large changes in impulses will generate only small changes in velocity. When setting this value, also set PxConstraintFlag::eDISABLE_PREPROCESSING. The solver accuracy for this joint may be reduced.

Parameters

[in] threshold the minimum response threshold

See also: PxConstraintFlag::eDISABLE_PREPROCESSING

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

PxConstraint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxConstraint() [1/2]

◆ PxConstraint() [2/2]

◆ ~PxConstraint()

Member Function Documentation

◆ getActors()

◆ getBreakForce()

◆ getConcreteTypeName()

◆ getExternalReference()

◆ getFlags()

◆ getForce()

◆ getMinResponseThreshold()

◆ getScene()

◆ isKindOf()

◆ isValid()

◆ markDirty()

◆ release()

◆ setActors()

◆ setBreakForce()

◆ setConstraintFunctions()

◆ setFlag()

◆ setFlags()

◆ setMinResponseThreshold()