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

#include <PxRevoluteJoint.h>

Inheritance diagram for PxRevoluteJoint:

Collaboration diagram for PxRevoluteJoint:

Public Member Functions
virtual PxReal	getAngle () const =0
	return the angle of the joint, in the range (-Pi, Pi] More...

virtual PxReal	getVelocity () const =0
	return the velocity of the joint More...

virtual void	setLimit (const PxJointAngularLimitPair &limits)=0
	set the joint limit parameters. More...

virtual PxJointAngularLimitPair	getLimit () const =0
	get the joint limit parameters. More...

virtual void	setDriveVelocity (PxReal velocity)=0
	set the target velocity for the drive model. More...

virtual PxReal	getDriveVelocity () const =0
	gets the target velocity for the drive model. More...

virtual void	setDriveForceLimit (PxReal limit)=0
	sets the maximum torque the drive can exert. More...

virtual PxReal	getDriveForceLimit () const =0
	gets the maximum torque the drive can exert. More...

virtual void	setDriveGearRatio (PxReal ratio)=0
	sets the gear ratio for the drive. More...

virtual PxReal	getDriveGearRatio () const =0
	gets the gear ratio. More...

virtual void	setRevoluteJointFlags (PxRevoluteJointFlags flags)=0
	sets the flags specific to the Revolute Joint. More...

virtual void	setRevoluteJointFlag (PxRevoluteJointFlag::Enum flag, bool value)=0
	sets a single flag specific to a Revolute Joint. More...

virtual PxRevoluteJointFlags	getRevoluteJointFlags (void) const =0
	gets the flags specific to the Revolute Joint. 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
	gets the angular tolerance threshold for projection. More...

virtual const char *	getConcreteTypeName () const
	Returns string name of PxRevoluteJoint, 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...

PX_DEPRECATED PxJointType::Enum	getType ()
	Deprecated method to retrieves the type of this joint. Please use getConcreteType() More...

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

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

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

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

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

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

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

Protected Member Functions
PX_INLINE	PxRevoluteJoint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor. More...

PX_INLINE	PxRevoluteJoint (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 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
	)

inlineprotected

Constructor.

PX_INLINE PxRevoluteJoint::PxRevoluteJoint ( PxBaseFlags baseFlags )

inlineprotected

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

inlinevirtual

Returns string name of PxRevoluteJoint, used for serialization.

Reimplemented from 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

inlineprotectedvirtual

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()

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

PxRevoluteJoint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation