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]lowerLimitThe lower angle of the limit
[in]upperLimitThe upper angle of the limit
[in]contactDistThe 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]lowerLimitThe lower angle of the limit
[in]upperLimitThe upper angle of the limit
[in]springThe 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


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