PxJointAngularLimitPair Class Reference

#include <PxJointLimit.h>

Inheritance diagram for PxJointAngularLimitPair:

Collaboration diagram for PxJointAngularLimitPair:

Public Member Functions
	PxJointAngularLimitPair (PxReal lowerLimit, PxReal upperLimit, PxReal contactDist=-1.0f)
	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 ()
	PxJointLimitParameters (const PxJointLimitParameters &p)
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 ()

Constructor & Destructor Documentation

PxJointAngularLimitPair() [1/2]

PxJointAngularLimitPair::PxJointAngularLimitPair ( PxReal  lowerLimit, PxReal  upperLimit, PxReal  contactDist = -1.0f  )

inline

construct an angular hard limit pair.

The lower value must be less than the upper value.

Parameters

[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)

See also

PxJointLimitParameters

References PxJointLimitParameters::contactDistance, and PxMin().

PxJointAngularLimitPair() [2/2]

PxJointAngularLimitPair::PxJointAngularLimitPair ( PxReal  lowerLimit, PxReal  upperLimit, const PxSpring &  spring  )

inline

construct an angular soft limit pair.

The lower value must be less than the upper value.

Parameters

[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

See also

PxJointLimitParameters

References damping, spring, and stiffness.

Member Function Documentation

isValid()

PX_INLINE bool PxJointAngularLimitPair::isValid ( ) const

inline

Returns true if the limit is valid.

Returns

true if the current settings are valid

References PxJointLimitParameters::isValid(), and PxIsFinite().

Member Data Documentation

lower

PxReal PxJointAngularLimitPair::lower

upper

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: lower = -PI/2, upper = PI/2

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

• PxJointLimit.h