a joint between two links in an articulation. More...

#include <PxArticulationJoint.h>

Inheritance diagram for PxArticulationJoint:

Collaboration diagram for PxArticulationJoint:

Public Member Functions
virtual void	setTargetOrientation (const PxQuat &orientation)=0
	set the target drive More...

virtual PxQuat	getTargetOrientation () const =0
	get the target drive position More...

virtual void	setTargetVelocity (const PxVec3 &velocity)=0
	set the target drive velocity More...

virtual PxVec3	getTargetVelocity () const =0
	get the target drive velocity More...

virtual void	setDriveType (PxArticulationJointDriveType::Enum driveType)=0
	set the drive type More...

virtual PxArticulationJointDriveType::Enum	getDriveType () const =0
	get the drive type More...

virtual void	setStiffness (PxReal spring)=0
	set the drive strength of the joint acceleration spring. More...

virtual PxReal	getStiffness () const =0
	get the drive strength of the joint acceleration spring More...

virtual void	setDamping (PxReal damping)=0
	set the damping of the joint acceleration spring More...

virtual PxReal	getDamping () const =0
	get the damping of the joint acceleration spring More...

virtual void	setInternalCompliance (PxReal compliance)=0
	set the internal compliance More...

virtual PxReal	getInternalCompliance () const =0
	get the internal compliance More...

virtual void	setExternalCompliance (PxReal compliance)=0
	get the drive external compliance More...

virtual PxReal	getExternalCompliance () const =0
	get the drive external compliance More...

virtual void	setSwingLimit (PxReal zLimit, PxReal yLimit)=0
	set the extents of the cone limit. The extents are measured in the frame of the parent. More...

virtual void	getSwingLimit (PxReal &zLimit, PxReal &yLimit) const =0
	get the extents for the swing limit cone More...

virtual void	setTangentialStiffness (PxReal spring)=0
	set the tangential spring for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0) More...

virtual PxReal	getTangentialStiffness () const =0
	get the tangential spring for the swing limit cone More...

virtual void	setTangentialDamping (PxReal damping)=0
	set the tangential damping for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0) More...

virtual PxReal	getTangentialDamping () const =0
	get the tangential damping for the swing limit cone More...

virtual void	setSwingLimitContactDistance (PxReal contactDistance)=0
	set the contact distance for the swing limit More...

virtual PxReal	getSwingLimitContactDistance () const =0
	get the contact distance for the swing limit More...

virtual void	setSwingLimitEnabled (bool enabled)=0
	set the flag which enables the swing limit More...

virtual bool	getSwingLimitEnabled () const =0
	get the flag which enables the swing limit More...

virtual void	setTwistLimit (PxReal lower, PxReal upper)=0
	set the bounds of the twistLimit More...

virtual void	getTwistLimit (PxReal &lower, PxReal &upper) const =0
	get the bounds of the twistLimit More...

virtual void	setTwistLimitEnabled (bool enabled)=0
	set the flag which enables the twist limit More...

virtual bool	getTwistLimitEnabled () const =0
	get the twistLimitEnabled flag More...

virtual void	setTwistLimitContactDistance (PxReal contactDistance)=0
	set the contact distance for the swing limit More...

virtual PxReal	getTwistLimitContactDistance () const =0
	get the contact distance for the swing limit More...

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

Public Member Functions inherited from PxArticulationJointBase
virtual PxArticulationLink &	getParentArticulationLink () const =0
	get the parent articulation link to which this articulation joint belongs More...

virtual void	setParentPose (const PxTransform &pose)=0
	set the joint pose in the parent frame More...

virtual PxTransform	getParentPose () const =0
	get the joint pose in the parent frame More...

virtual PxArticulationLink &	getChildArticulationLink () const =0
	get the child articulation link to which this articulation joint belongs More...

virtual void	setChildPose (const PxTransform &pose)=0
	set the joint pose in the child frame More...

virtual PxTransform	getChildPose () const =0
	get the joint pose in the child frame More...

virtual PxArticulationJointImpl *	getImpl ()=0

virtual const PxArticulationJointImpl *	getImpl () const =0

virtual	~PxArticulationJointBase ()

Public Member Functions inherited from PxBase
virtual void	release ()=0
	Releases the PxBase instance, please check documentation of release in derived class. More...

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	PxArticulationJoint (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationJoint (PxBaseFlags baseFlags)

virtual	~PxArticulationJoint ()

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 PxArticulationJointBase
PX_INLINE	PxArticulationJointBase (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationJointBase (PxBaseFlags baseFlags)

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 joint between two links in an articulation.

The joint model is very similar to a PxSphericalJoint with swing and twist limits, and an implicit drive model.

See also: PxArticulation PxArticulationLink

Constructor & Destructor Documentation

◆ PxArticulationJoint() [1/2]

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

inlineprotected

◆ PxArticulationJoint() [2/2]

PX_INLINE PxArticulationJoint::PxArticulationJoint ( PxBaseFlags baseFlags )

inlineprotected

◆ ~PxArticulationJoint()

virtual PxArticulationJoint::~PxArticulationJoint ( )

inlineprotectedvirtual

Member Function Documentation

◆ getConcreteTypeName()

virtual const char* PxArticulationJoint::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

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

Implements PxBase.

◆ getDamping()

virtual PxReal PxArticulationJoint::getDamping ( ) const

pure virtual

get the damping of the joint acceleration spring

See also: setDamping()

◆ getDriveType()

virtual PxArticulationJointDriveType::Enum PxArticulationJoint::getDriveType ( ) const

pure virtual

get the drive type

Returns: the drive type

See also: setDriveType()

◆ getExternalCompliance()

virtual PxReal PxArticulationJoint::getExternalCompliance ( ) const

pure virtual

get the drive external compliance

Returns: the compliance to external forces

See also: setExternalCompliance()

◆ getInternalCompliance()

virtual PxReal PxArticulationJoint::getInternalCompliance ( ) const

pure virtual

get the internal compliance

Returns: the compliance to internal forces

See also: setInternalCompliance()

◆ getStiffness()

virtual PxReal PxArticulationJoint::getStiffness ( ) const

pure virtual

get the drive strength of the joint acceleration spring

Returns: the spring strength of the joint

See also: setStiffness()

◆ getSwingLimit()

virtual void PxArticulationJoint::getSwingLimit	(	PxReal &	zLimit,
		PxReal &	yLimit
	)		const

pure virtual

get the extents for the swing limit cone

Parameters

[out]	zLimit	the allowed extent of rotation around the z-axis
[out]	yLimit	the allowed extent of rotation around the y-axis

Note: Please note the order of zLimit and yLimit.

See also: setSwingLimit()

◆ getSwingLimitContactDistance()

virtual PxReal PxArticulationJoint::getSwingLimitContactDistance ( ) const

pure virtual

get the contact distance for the swing limit

Returns: the contact distance for the swing limit cone

See also: setSwingLimitContactDistance()

◆ getSwingLimitEnabled()

virtual bool PxArticulationJoint::getSwingLimitEnabled ( ) const

pure virtual

get the flag which enables the swing limit

Returns: whether the swing limit is enabled

See also: setSwingLimitEnabled()

◆ getTangentialDamping()

virtual PxReal PxArticulationJoint::getTangentialDamping ( ) const

pure virtual

get the tangential damping for the swing limit cone

Returns: the tangential damping

See also: setTangentialDamping()

◆ getTangentialStiffness()

virtual PxReal PxArticulationJoint::getTangentialStiffness ( ) const

pure virtual

get the tangential spring for the swing limit cone

Returns: the tangential spring

See also: setTangentialStiffness()

◆ getTargetOrientation()

virtual PxQuat PxArticulationJoint::getTargetOrientation ( ) const

pure virtual

get the target drive position

Returns: the joint drive target position

See also: setTargetOrientation()

◆ getTargetVelocity()

virtual PxVec3 PxArticulationJoint::getTargetVelocity ( ) const

pure virtual

get the target drive velocity

Returns: the target velocity for the joint

See also: setTargetVelocity()

◆ getTwistLimit()

virtual void PxArticulationJoint::getTwistLimit	(	PxReal &	lower,
		PxReal &	upper
	)		const

pure virtual

get the bounds of the twistLimit

Parameters

[out]	lower	the lower extent of the twist limit
[out]	upper	the upper extent of the twist limit

See also: setTwistLimit()

◆ getTwistLimitContactDistance()

virtual PxReal PxArticulationJoint::getTwistLimitContactDistance ( ) const

pure virtual

get the contact distance for the swing limit

Returns: the contact distance for the twist limit

See also: setTwistLimitContactDistance()

◆ getTwistLimitEnabled()

virtual bool PxArticulationJoint::getTwistLimitEnabled ( ) const

pure virtual

get the twistLimitEnabled flag

Returns: whether the twist limit is enabled

See also: setTwistLimitEnabled()

◆ isKindOf()

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

inlineprotectedvirtual

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

Reimplemented from PxArticulationJointBase.

References PxArticulationJointBase::isKindOf().

◆ setDamping()

virtual void PxArticulationJoint::setDamping ( PxReal damping )

pure virtual

set the damping of the joint acceleration spring

The acceleration generated by the spring drive is proportional to this value and the difference between the angular velocity of the joint and the target drive velocity.

Parameters

[in] damping the damping of the joint drive Range: [0, PX_MAX_F32)
Default: 0.0

See also: getDamping()

◆ setDriveType()

virtual void PxArticulationJoint::setDriveType ( PxArticulationJointDriveType::Enum driveType )

pure virtual

set the drive type

Parameters

[in] driveType the drive type for the joint Default: PxArticulationJointDriveType::eTARGET

See also: getDriveType()

◆ setExternalCompliance()

virtual void PxArticulationJoint::setExternalCompliance ( PxReal compliance )

pure virtual

get the drive external compliance

Compliance determines the extent to which the joint resists acceleration.

There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.

A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.

Parameters

[in] compliance the compliance to external forces Range: (0, 1] Default: 0.0

See also: getExternalCompliance()

◆ setInternalCompliance()

virtual void PxArticulationJoint::setInternalCompliance ( PxReal compliance )

pure virtual

set the internal compliance

Compliance determines the extent to which the joint resists acceleration.

There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.

A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.

Parameters

[in] compliance the compliance to internal forces Range: (0, 1] Default: 0.0

See also: getInternalCompliance()

◆ setStiffness()

virtual void PxArticulationJoint::setStiffness ( PxReal spring )

pure virtual

set the drive strength of the joint acceleration spring.

The acceleration generated by the spring drive is proportional to this value and the angle between the drive target position and the current position.

Parameters

[in] spring the spring strength of the joint Range: [0, PX_MAX_F32)
Default: 0.0

See also: getStiffness()

◆ setSwingLimit()

virtual void PxArticulationJoint::setSwingLimit	(	PxReal	zLimit,
		PxReal	yLimit
	)

pure virtual

set the extents of the cone limit. The extents are measured in the frame of the parent.

Note that very small or highly elliptical limit cones may result in jitter.

Parameters

[in]	zLimit	the allowed extent of rotation around the z-axis
[in]	yLimit	the allowed extent of rotation around the y-axis Range: ( (0, Pi), (0, Pi) ) Default: (Pi/4, Pi/4)

Note: Please note the order of zLimit and yLimit.

◆ setSwingLimitContactDistance()

virtual void PxArticulationJoint::setSwingLimitContactDistance ( PxReal contactDistance )

pure virtual

set the contact distance for the swing limit

The contact distance should be less than either limit angle.

Range: [0, Pi] Default: 0.05 radians

See also: getSwingLimitContactDistance()

◆ setSwingLimitEnabled()

virtual void PxArticulationJoint::setSwingLimitEnabled ( bool enabled )

pure virtual

set the flag which enables the swing limit

Parameters

[in] enabled whether the limit is enabled Default: false

See also: getSwingLimitEnabled()

◆ setTangentialDamping()

virtual void PxArticulationJoint::setTangentialDamping ( PxReal damping )

pure virtual

set the tangential damping for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)

◆ setTangentialStiffness()

virtual void PxArticulationJoint::setTangentialStiffness ( PxReal spring )

pure virtual

set the tangential spring for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32)) Default: (0.0, 0.0)

◆ setTargetOrientation()

virtual void PxArticulationJoint::setTargetOrientation ( const PxQuat & orientation )

pure virtual

set the target drive

This is the target position for the joint drive, measured in the parent constraint frame.

Parameters

[in] orientation the target orientation for the joint Range: a unit quaternion Default: the identity quaternion

See also: getTargetOrientation()

◆ setTargetVelocity()

virtual void PxArticulationJoint::setTargetVelocity ( const PxVec3 & velocity )

pure virtual

set the target drive velocity

This is the target velocity for the joint drive, measured in the parent constraint frame

Parameters

[in] velocity the target velocity for the joint Default: the zero vector

See also: getTargetVelocity()

◆ setTwistLimit()

virtual void PxArticulationJoint::setTwistLimit	(	PxReal	lower,
		PxReal	upper
	)

pure virtual

set the bounds of the twistLimit

Parameters

[in]	lower	the lower extent of the twist limit
[in]	upper	the upper extent of the twist limit Range: (-Pi, Pi) Default: (-Pi/4, Pi/4)

The lower limit value must be less than the upper limit if the limit is enabled

See also: getTwistLimit()

◆ setTwistLimitContactDistance()

virtual void PxArticulationJoint::setTwistLimitContactDistance ( PxReal contactDistance )

pure virtual

set the contact distance for the swing limit

The contact distance should be less than half the distance between the upper and lower limits.

Range: [0, Pi) Default: 0.05 radians

See also: getTwistLimitContactDistance()

◆ setTwistLimitEnabled()

virtual void PxArticulationJoint::setTwistLimitEnabled ( bool enabled )

pure virtual

set the flag which enables the twist limit

Parameters

[in] enabled whether the twist limit is enabled Default: false

See also: getTwistLimitEnabled()

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

PxArticulationJoint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxArticulationJoint() [1/2]

◆ PxArticulationJoint() [2/2]

◆ ~PxArticulationJoint()

Member Function Documentation

◆ getConcreteTypeName()

◆ getDamping()

◆ getDriveType()

◆ getExternalCompliance()

◆ getInternalCompliance()

◆ getStiffness()

◆ getSwingLimit()

◆ getSwingLimitContactDistance()

◆ getSwingLimitEnabled()

◆ getTangentialDamping()

◆ getTangentialStiffness()

◆ getTargetOrientation()

◆ getTargetVelocity()

◆ getTwistLimit()

◆ getTwistLimitContactDistance()

◆ getTwistLimitEnabled()

◆ isKindOf()

◆ setDamping()

◆ setDriveType()

◆ setExternalCompliance()

◆ setInternalCompliance()

◆ setStiffness()

◆ setSwingLimit()

◆ setSwingLimitContactDistance()

◆ setSwingLimitEnabled()

◆ setTangentialDamping()

◆ setTangentialStiffness()

◆ setTargetOrientation()

◆ setTargetVelocity()

◆ setTwistLimit()

◆ setTwistLimitContactDistance()

◆ setTwistLimitEnabled()