A joint which behaves in a similar way to a ball and socket. More...

#include <PxSphericalJoint.h>

Inheritance diagram for PxSphericalJoint:

Collaboration diagram for PxSphericalJoint:

Public Member Functions
virtual PxJointLimitCone	getLimitCone () const =0
	Set the limit cone. More...

virtual void	setLimitCone (const PxJointLimitCone &limit)=0
	Get the limit cone. More...

virtual PxReal	getSwingYAngle () const =0
	get the swing angle of the joint from the Y axis More...

virtual PxReal	getSwingZAngle () const =0
	get the swing angle of the joint from the Z axis More...

virtual void	setSphericalJointFlags (PxSphericalJointFlags flags)=0
	Set the flags specific to the Spherical Joint. More...

virtual void	setSphericalJointFlag (PxSphericalJointFlag::Enum flag, bool value)=0
	Set a single flag specific to a Spherical Joint to true or false. More...

virtual PxSphericalJointFlags	getSphericalJointFlags () const =0
	Get the flags specific to the Spherical 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 const char *	getConcreteTypeName () const
	Returns string name of PxSphericalJoint, 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...

Public Member Functions inherited from PxBase
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	PxSphericalJoint (PxType concreteType, PxBaseFlags baseFlags)
	Constructor. More...

PX_INLINE	PxSphericalJoint (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 ball and socket.

A spherical joint removes all linear degrees of freedom from two objects.

The position of the joint on each actor is specified by the origin of the body's joint frame.

A spherical joint may have a cone limit, to restrict the motion to within a certain range. In addition, the bodies may be projected together if the distance 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

◆ PxSphericalJoint() [1/2]

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

inlineprotected

Constructor.

◆ PxSphericalJoint() [2/2]

PX_INLINE PxSphericalJoint::PxSphericalJoint ( PxBaseFlags baseFlags )

inlineprotected

Deserialization constructor.

Member Function Documentation

◆ getConcreteTypeName()

virtual const char* PxSphericalJoint::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of PxSphericalJoint, used for serialization.

Implements PxBase.

◆ getLimitCone()

virtual PxJointLimitCone PxSphericalJoint::getLimitCone ( ) const

pure virtual

Set the limit cone.

If enabled, the limit cone will constrain the angular movement of the joint to lie within an elliptical cone.

Returns: the limit cone

See also: PxJointLimitCone setLimit()

◆ getProjectionLinearTolerance()

virtual PxReal PxSphericalJoint::getProjectionLinearTolerance ( ) const

pure virtual

Get the linear tolerance threshold for projection.

Returns: the linear tolerance threshold

See also: setProjectionLinearTolerance()

◆ getSphericalJointFlags()

virtual PxSphericalJointFlags PxSphericalJoint::getSphericalJointFlags ( ) const

pure virtual

Get the flags specific to the Spherical Joint.

Returns: the joint flags

See also: PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()

◆ getSwingYAngle()

virtual PxReal PxSphericalJoint::getSwingYAngle ( ) const

pure virtual

get the swing angle of the joint from the Y axis

◆ getSwingZAngle()

virtual PxReal PxSphericalJoint::getSwingZAngle ( ) const

pure virtual

get the swing angle of the joint from the Z axis

◆ isKindOf()

virtual bool PxSphericalJoint::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().

◆ setLimitCone()

virtual void PxSphericalJoint::setLimitCone ( const PxJointLimitCone & limit )

pure virtual

Get the limit cone.

Parameters

[in] limit the limit cone

See also: PxJointLimitCone getLimit()

◆ setProjectionLinearTolerance()

virtual void PxSphericalJoint::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

◆ setSphericalJointFlag()

virtual void PxSphericalJoint::setSphericalJointFlag	(	PxSphericalJointFlag::Enum	flag,
		bool	value
	)

pure virtual

Set a single flag specific to a Spherical Joint to true or false.

Parameters

[in]	flag	The flag to set or clear.
[in]	value	the value to which to set the flag

See also: PxSphericalJointFlag, getFlags() setFlags()

◆ setSphericalJointFlags()

virtual void PxSphericalJoint::setSphericalJointFlags ( PxSphericalJointFlags flags )

pure virtual

Set the flags specific to the Spherical Joint.

Default PxSphericalJointFlags(0)

Parameters

[in] flags The joint flags.

See also: PxSphericalJointFlag setFlag() getFlags()

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

PxSphericalJoint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PxSphericalJoint() [1/2]

◆ PxSphericalJoint() [2/2]

Member Function Documentation

◆ getConcreteTypeName()

◆ getLimitCone()

◆ getProjectionLinearTolerance()

◆ getSphericalJointFlags()

◆ getSwingYAngle()

◆ getSwingZAngle()

◆ isKindOf()

◆ setLimitCone()

◆ setProjectionLinearTolerance()

◆ setSphericalJointFlag()

◆ setSphericalJointFlags()