Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may result in jitter. More...
#include <PxJointLimit.h>
Public Member Functions | |
| PxJointLimitCone (PxReal yLimitAngle, PxReal zLimitAngle, PxReal contactDist=-1) | |
| Construct a cone hard limit. More... | |
| PxJointLimitCone (PxReal yLimitAngle, PxReal zLimitAngle, const PxSpring &spring) | |
| Construct a cone soft limit. 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 | yAngle |
| the maximum angle from the Y axis of the constraint frame. More... | |
| PxReal | zAngle |
| the maximum angle from the Z-axis of the constraint frame. More... | |
| 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 () | |
Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may result in jitter.
|
inline |
Construct a cone hard limit.
| [in] | yLimitAngle | the limit angle from the Y-axis of the constraint frame |
| [in] | zLimitAngle | the limit angle from the Z-axis of the constraint frame |
| [in] | contactDist | the distance from the limit at which it becomes active. Default is the lesser of 0.1 radians, and 0.49 * the lower of the limit angles |
References PxJointLimitParameters::contactDistance, and PxMin().
|
inline |
Construct a cone soft limit.
| [in] | yLimitAngle | the limit angle from the Y-axis of the constraint frame |
| [in] | zLimitAngle | the limit angle from the Z-axis of the constraint frame |
| [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(), PxIsFinite(), and PxPi.
| PxReal PxJointLimitCone::yAngle |
the maximum angle from the Y axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (0,PI)
Default: PI/2
| PxReal PxJointLimitCone::zAngle |
the maximum angle from the Z-axis of the constraint frame.
Unit: Angular: Radians Range: Angular: (0,PI)
Default: PI/2