PxRevoluteJoint Class Reference
[Extensions]

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

#include <PxRevoluteJoint.h>

Inheritance diagram for PxRevoluteJoint:

Inheritance graph
PxJointPxBase
[legend]
Collaboration diagram for PxRevoluteJoint:

Collaboration graph
PxJointPxBasePxFlags\< PxBaseFlag::Enum, PxU16 \>
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List of all members.

Public Member Functions

virtual PxReal getAngle () const =0
 return the angle of the joint, in the range (-Pi, Pi]
virtual PxReal getVelocity () const =0
 return the velocity of the joint
virtual void setLimit (const PxJointAngularLimitPair &limits)=0
 set the joint limit parameters.
virtual PxJointAngularLimitPair getLimit () const =0
 get the joint limit parameters.
virtual void setDriveVelocity (PxReal velocity)=0
 set the target velocity for the drive model.
virtual PxReal getDriveVelocity () const =0
 gets the target velocity for the drive model.
virtual void setDriveForceLimit (PxReal limit)=0
 sets the maximum torque the drive can exert.
virtual PxReal getDriveForceLimit () const =0
 gets the maximum torque the drive can exert.
virtual void setDriveGearRatio (PxReal ratio)=0
 sets the gear ratio for the drive.
virtual PxReal getDriveGearRatio () const =0
 gets the gear ratio.
virtual void setRevoluteJointFlags (PxRevoluteJointFlags flags)=0
 sets the flags specific to the Revolute Joint.
virtual void setRevoluteJointFlag (PxRevoluteJointFlag::Enum flag, bool value)=0
 sets a single flag specific to a Revolute Joint.
virtual PxRevoluteJointFlags getRevoluteJointFlags (void) const =0
 gets the flags specific to the Revolute Joint.
virtual void setProjectionLinearTolerance (PxReal tolerance)=0
 Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.
virtual PxReal getProjectionLinearTolerance () const =0
 Get the linear tolerance threshold for projection.
virtual void setProjectionAngularTolerance (PxReal tolerance)=0
 Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION is set for the joint.
virtual PxReal getProjectionAngularTolerance () const =0
 gets the angular tolerance threshold for projection.
virtual const char * getConcreteTypeName () const
 Returns string name of PxRevoluteJoint, used for serialization.

Protected Member Functions

PX_INLINE PxRevoluteJoint (PxType concreteType, PxBaseFlags baseFlags)
 Constructor.
PX_INLINE PxRevoluteJoint (PxBaseFlags baseFlags)
 Deserialization constructor.
virtual bool isKindOf (const char *name) const
 Returns whether a given type name matches with the type of this instance.


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.

revoluteJoint.png

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 
) [inline, protected]

Constructor.

PX_INLINE PxRevoluteJoint::PxRevoluteJoint ( PxBaseFlags  baseFlags  )  [inline, protected]

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 [inline, virtual]

Returns string name of PxRevoluteJoint, used for serialization.

Implements 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 [inline, protected, virtual]

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:


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