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

#include <PxD6Joint.h>

Inheritance diagram for PxD6Joint:

Collaboration diagram for PxD6Joint:

Public Member Functions
virtual void	setMotion (PxD6Axis::Enum axis, PxD6Motion::Enum type)=0
	Set the motion type around the specified axis. More...

virtual PxD6Motion::Enum	getMotion (PxD6Axis::Enum axis) const =0
	Get the motion type around the specified axis. More...

virtual PxReal	getTwistAngle () const =0
	get the twist angle of the joint, in the range (-2Pi, 2Pi] More...

PX_DEPRECATED PX_FORCE_INLINE PxReal	getTwist () const
	get the twist angle of the joint More...

virtual PxReal	getSwingYAngle () const =0
	get the swing angle of the joint from the Y axis More...

virtual PxReal	getSwingZAngle () const =0
	get the swing angle of the joint from the Z axis More...

virtual void	setDistanceLimit (const PxJointLinearLimit &limit)=0
	Set the distance limit for the joint. More...

virtual PxJointLinearLimit	getDistanceLimit () const =0
	Get the distance limit for the joint. More...

PX_DEPRECATED PX_FORCE_INLINE void	setLinearLimit (const PxJointLinearLimit &limit)

PX_DEPRECATED PX_FORCE_INLINE PxJointLinearLimit	getLinearLimit () const

virtual void	setLinearLimit (PxD6Axis::Enum axis, const PxJointLinearLimitPair &limit)=0
	Set the linear limit for a given linear axis. More...

virtual PxJointLinearLimitPair	getLinearLimit (PxD6Axis::Enum axis) const =0
	Get the linear limit for a given linear axis. More...

virtual void	setTwistLimit (const PxJointAngularLimitPair &limit)=0
	Set the twist limit for the joint. More...

virtual PxJointAngularLimitPair	getTwistLimit () const =0
	Get the twist limit for the joint. More...

virtual void	setSwingLimit (const PxJointLimitCone &limit)=0
	Set the swing cone limit for the joint. More...

virtual PxJointLimitCone	getSwingLimit () const =0
	Get the cone limit for the joint. More...

virtual void	setPyramidSwingLimit (const PxJointLimitPyramid &limit)=0
	Set a pyramidal swing limit for the joint. More...

virtual PxJointLimitPyramid	getPyramidSwingLimit () const =0
	Get the pyramidal swing limit for the joint. More...

virtual void	setDrive (PxD6Drive::Enum index, const PxD6JointDrive &drive)=0
	Set the drive parameters for the specified drive type. More...

virtual PxD6JointDrive	getDrive (PxD6Drive::Enum index) const =0
	Get the drive parameters for the specified drive type. More...

virtual void	setDrivePosition (const PxTransform &pose, bool autowake=true)=0
	Set the drive goal pose. More...

virtual PxTransform	getDrivePosition () const =0
	Get the drive goal pose. More...

virtual void	setDriveVelocity (const PxVec3 &linear, const PxVec3 &angular, bool autowake=true)=0
	Set the target goal velocity for drive. More...

virtual void	getDriveVelocity (PxVec3 &linear, PxVec3 &angular) const =0
	Get the target goal velocity for joint drive. More...

virtual void	setProjectionLinearTolerance (PxReal tolerance)=0
	Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint. More...

virtual PxReal	getProjectionLinearTolerance () const =0
	Get the linear tolerance threshold for projection. More...

virtual void	setProjectionAngularTolerance (PxReal tolerance)=0
	Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint. More...

virtual PxReal	getProjectionAngularTolerance () const =0
	Get the angular tolerance threshold for projection. More...

virtual const char *	getConcreteTypeName () const
	Returns string name of PxD6Joint, used for serialization. More...

Public Member Functions inherited from PxJoint
virtual void	setActors (PxRigidActor actor0, PxRigidActor actor1)=0
	Set the actors for this joint. More...

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

virtual void	setLocalPose (PxJointActorIndex::Enum actor, const PxTransform &localPose)=0
	Set the joint local pose for an actor. More...

virtual PxTransform	getLocalPose (PxJointActorIndex::Enum actor) const =0
	get the joint local pose for an actor. More...

virtual PxTransform	getRelativeTransform () const =0
	get the relative pose for this joint More...

virtual PxVec3	getRelativeLinearVelocity () const =0
	get the relative linear velocity of the joint More...

virtual PxVec3	getRelativeAngularVelocity () const =0
	get the relative angular velocity of the joint More...

virtual void	setBreakForce (PxReal force, PxReal torque)=0
	set the break force for this joint. More...

virtual void	getBreakForce (PxReal &force, PxReal &torque) const =0
	get the break force for this joint. More...

virtual void	setConstraintFlags (PxConstraintFlags flags)=0
	set the constraint flags for this joint. More...

virtual void	setConstraintFlag (PxConstraintFlag::Enum flag, bool value)=0
	set a constraint flags for this joint to a specified value. More...

virtual PxConstraintFlags	getConstraintFlags () const =0
	get the constraint flags for this joint. More...

virtual void	setInvMassScale0 (PxReal invMassScale)=0
	set the inverse mass scale for actor0. More...

virtual PxReal	getInvMassScale0 () const =0
	get the inverse mass scale for actor0. More...

virtual void	setInvInertiaScale0 (PxReal invInertiaScale)=0
	set the inverse inertia scale for actor0. More...

virtual PxReal	getInvInertiaScale0 () const =0
	get the inverse inertia scale for actor0. More...

virtual void	setInvMassScale1 (PxReal invMassScale)=0
	set the inverse mass scale for actor1. More...

virtual PxReal	getInvMassScale1 () const =0
	get the inverse mass scale for actor1. More...

virtual void	setInvInertiaScale1 (PxReal invInertiaScale)=0
	set the inverse inertia scale for actor1. More...

virtual PxReal	getInvInertiaScale1 () const =0
	get the inverse inertia scale for actor1. More...

virtual PxConstraint *	getConstraint () const =0
	Retrieves the PxConstraint corresponding to this joint. More...

virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName(). More...

virtual const char *	getName () const =0
	Retrieves the name string set with setName(). More...

virtual void	release ()=0
	Deletes the joint. More...

virtual PxScene *	getScene () const =0
	Retrieves the scene which this joint belongs to. 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	PxD6Joint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor. More...

PX_INLINE	PxD6Joint (PxBaseFlags baseFlags)
	Deserialization constructor. More...

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 PxJoint
virtual	~PxJoint ()

PX_INLINE	PxJoint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor. More...

PX_INLINE	PxJoint (PxBaseFlags baseFlags)
	Deserialization constructor. 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
Static Public Member Functions inherited from PxJoint
static void	getBinaryMetaData (PxOutputStream &stream)
	Put class meta data in stream, used for serialization. More...

Public Attributes inherited from PxJoint
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object. More...

Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

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 are two different kinds of linear limits available. The first kind 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. This is similar to a distance limit. Then, the second kind supports a pair of limit values for each linear axis, which can be used to implement a traditional prismatic joint for example.

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

◆ PxD6Joint() [1/2]

PX_INLINE PxD6Joint::PxD6Joint	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)

inlineprotected

Constructor.

◆ PxD6Joint() [2/2]

PX_INLINE PxD6Joint::PxD6Joint ( PxBaseFlags baseFlags )

inlineprotected

Deserialization constructor.

Member Function Documentation

◆ getConcreteTypeName()

virtual const char* PxD6Joint::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of PxD6Joint, used for serialization.

Implements PxBase.

◆ getDistanceLimit()

virtual PxJointLinearLimit PxD6Joint::getDistanceLimit ( ) const

pure virtual

Get the distance limit for the joint.

Returns: the distance limit structure

See also: setDistanceLimit() PxJointLinearLimit

◆ getDrive()

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

◆ getDrivePosition()

virtual PxTransform PxD6Joint::getDrivePosition ( ) const

pure virtual

Get the drive goal pose.

See also: getDrivePosition()

◆ getDriveVelocity()

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()

◆ getLinearLimit() [1/2]

PX_DEPRECATED PX_FORCE_INLINE PxJointLinearLimit PxD6Joint::getLinearLimit ( ) const

inline

Deprecated:: Use getDistanceLimit instead. Deprecated since PhysX version 4.0

◆ getLinearLimit() [2/2]

virtual PxJointLinearLimitPair PxD6Joint::getLinearLimit ( PxD6Axis::Enum axis ) const

pure virtual

Get the linear limit for a given linear axis.

Parameters

[in] axis The limited linear axis (must be PxD6Axis::eX, PxD6Axis::eY or PxD6Axis::eZ)

Returns: the linear limit pair structure from desired axis

See also: setLinearLimit() PxJointLinearLimit

◆ getMotion()

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

◆ getProjectionAngularTolerance()

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()

◆ getProjectionLinearTolerance()

virtual PxReal PxD6Joint::getProjectionLinearTolerance ( ) const

pure virtual

Get the linear tolerance threshold for projection.

Returns: the linear tolerance threshold

See also: setProjectionLinearTolerance()

◆ getPyramidSwingLimit()

virtual PxJointLimitPyramid PxD6Joint::getPyramidSwingLimit ( ) const

pure virtual

Get the pyramidal swing limit for the joint.

Returns: the swing limit structure

See also: setLimitCone() PxJointLimitPyramid

◆ getSwingLimit()

virtual PxJointLimitCone PxD6Joint::getSwingLimit ( ) const

pure virtual

Get the cone limit for the joint.

Returns: the swing limit structure

See also: setLimitCone() PxJointLimitCone

◆ getSwingYAngle()

virtual PxReal PxD6Joint::getSwingYAngle ( ) const

pure virtual

get the swing angle of the joint from the Y axis

◆ getSwingZAngle()

virtual PxReal PxD6Joint::getSwingZAngle ( ) const

pure virtual

get the swing angle of the joint from the Z axis

◆ getTwist()

PX_DEPRECATED PX_FORCE_INLINE PxReal PxD6Joint::getTwist ( ) const

inline

get the twist angle of the joint

Deprecated:: Use getTwistAngle instead. Deprecated since PhysX version 4.0

◆ getTwistAngle()

virtual PxReal PxD6Joint::getTwistAngle ( ) const

pure virtual

get the twist angle of the joint, in the range (-2*Pi, 2*Pi]

◆ getTwistLimit()

virtual PxJointAngularLimitPair PxD6Joint::getTwistLimit ( ) const

pure virtual

Get the twist limit for the joint.

Returns: the twist limit structure

See also: setTwistLimit() PxJointAngularLimitPair

◆ isKindOf()

virtual bool PxD6Joint::isKindOf ( const char * name ) const

inlineprotectedvirtual

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

Reimplemented from PxJoint.

References PxJoint::isKindOf().

◆ setDistanceLimit()

virtual void PxD6Joint::setDistanceLimit ( const PxJointLinearLimit & limit )

pure virtual

Set the distance 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. This is similar to a distance limit.

Parameters

[in] limit the distance limit structure

See also: getDistanceLimit() PxJointLinearLimit

◆ setDrive()

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.

◆ setDrivePosition()

virtual void PxD6Joint::setDrivePosition	(	const PxTransform &	pose,
		bool	autowake = `true`
	)

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.
[in]	autowake	Whether to wake the joint rigids up if it is asleep.

See also: setDrivePosition()

◆ setDriveVelocity()

virtual void PxD6Joint::setDriveVelocity	(	const PxVec3 &	linear,
		const PxVec3 &	angular,
		bool	autowake = `true`
	)

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
[in]	autowake	Whether to wake the joint rigids up if it is asleep.

See also: getDriveVelocity()

◆ setLinearLimit() [1/2]

PX_DEPRECATED PX_FORCE_INLINE void PxD6Joint::setLinearLimit ( const PxJointLinearLimit & limit )

inline

Deprecated:: Use setDistanceLimit instead. Deprecated since PhysX version 4.0

◆ setLinearLimit() [2/2]

virtual void PxD6Joint::setLinearLimit	(	PxD6Axis::Enum	axis,
		const PxJointLinearLimitPair &	limit
	)

pure virtual

Set the linear limit for a given linear axis.

This function extends the previous setDistanceLimit call with the following features:

there can be a different limit for each linear axis
each limit is defined by two values, i.e. it can now be asymmetric

This can be used to create prismatic joints similar to PxPrismaticJoint, or point-in-quad joints, or point-in-box joints.

Parameters

[in]	axis	The limited linear axis (must be PxD6Axis::eX, PxD6Axis::eY or PxD6Axis::eZ)
[in]	limit	The linear limit pair structure

See also: getLinearLimit()

◆ setMotion()

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

◆ setProjectionAngularTolerance()

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

◆ setProjectionLinearTolerance()

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

◆ setPyramidSwingLimit()

virtual void PxD6Joint::setPyramidSwingLimit ( const PxJointLimitPyramid & limit )

pure virtual

Set a pyramidal swing limit for the joint.

The pyramid limits will only be used in the following cases:

both swing Y and Z are limited. The limit shape is then a pyramid.
Y is limited and Z is locked, or vice versa. The limit shape is an asymmetric angular section, similar to what is supported for the twist axis. The remaining cases (Y limited and Z is free, or vice versa) are not supported.

Parameters

[in] limit the cone limit structure

See also: getLimitCone() PxJointLimitPyramid

◆ setSwingLimit()

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

◆ setTwistLimit()

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).

Parameters

[in] limit the twist limit structure

See also: getTwistLimit() PxJointAngularLimitPair

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

PxD6Joint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxD6Joint() [1/2]

◆ PxD6Joint() [2/2]

Member Function Documentation

◆ getConcreteTypeName()

◆ getDistanceLimit()

◆ getDrive()

◆ getDrivePosition()

◆ getDriveVelocity()

◆ getLinearLimit() [1/2]

◆ getLinearLimit() [2/2]

◆ getMotion()

◆ getProjectionAngularTolerance()

◆ getProjectionLinearTolerance()

◆ getPyramidSwingLimit()

◆ getSwingLimit()

◆ getSwingYAngle()

◆ getSwingZAngle()

◆ getTwist()

◆ getTwistAngle()

◆ getTwistLimit()

◆ isKindOf()

◆ setDistanceLimit()

◆ setDrive()

◆ setDrivePosition()

◆ setDriveVelocity()

◆ setLinearLimit() [1/2]

◆ setLinearLimit() [2/2]

◆ setMotion()

◆ setProjectionAngularTolerance()

◆ setProjectionLinearTolerance()

◆ setPyramidSwingLimit()

◆ setSwingLimit()

◆ setTwistLimit()