#include <PxJointLimit.h>
Public Member Functions | |
| PxJointAngularLimitPair (PxReal lowerLimit, PxReal upperLimit, PxReal contactDist=-1) | |
| construct an angular hard limit pair. More... | |
| PxJointAngularLimitPair (PxReal lowerLimit, PxReal upperLimit, const PxSpring &spring) | |
| construct an angular soft limit pair. More... | |
| PX_INLINE bool | isValid () const |
| Returns true if the limit is valid. More... | |
 Public Member Functions inherited from PxJointLimitParameters | |
| PxJointLimitParameters () | |
| PX_INLINE bool | isValid () const |
| Returns true if the current settings are valid. More... | |
| PX_INLINE bool | isSoft () const |
Public Attributes | |
| PxReal | upper |
| the range of the limit. The upper limit must be no lower than the lower limit. More... | |
| PxReal | lower |
| Public Attributes inherited from PxJointLimitParameters | |
| PxReal | restitution |
| Controls the amount of bounce when the joint hits a limit. More... | |
| PxReal | bounceThreshold |
| PxReal | stiffness |
| if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit More... | |
| PxReal | damping |
| if spring is greater than zero, this is the damping of the limit spring More... | |
| PxReal | contactDistance |
| the distance inside the limit value at which the limit will be considered to be active by the solver. As this value is made larger, the limit becomes active more quickly. It thus becomes less likely to violate the extents of the limit, but more expensive. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from PxJointLimitParameters | |
| ~PxJointLimitParameters () | |
|
inline |
construct an angular hard limit pair.
The lower value must be less than the upper value.
| [in] | lowerLimit | the lower angle of the limit |
| [in] | upperLimit | the upper angle of the limit |
| [in] | contactDist | the distance from the limit at which it becomes active. Default is the lesser of 0.1 radians, and 0.49 * (upperLimit - lowerLimit) |
References PxJointLimitParameters::contactDistance, and PxMin().
|
inline |
construct an angular soft limit pair.
The lower value must be less than the upper value.
| [in] | lowerLimit | the lower angle of the limit |
| [in] | upperLimit | the upper angle of the limit |
| [in] | spring | the stiffness and damping of the limit spring |
References damping, PxSpring::damping, stiffness, and PxSpring::stiffness.
|
inline |
Returns true if the limit is valid.
References PxJointLimitParameters::isValid(), and PxIsFinite().
| PxReal PxJointAngularLimitPair::lower |
| PxReal PxJointAngularLimitPair::upper |
the range of the limit. The upper limit must be no lower than the lower limit.
Unit: Angular: Radians Range: See the joint on which the limit is used for details
Default: 0.0