#include <PxConstraint.h>
Public Member Functions | |
| virtual void | release ()=0 |
| Releases a PxConstraint instance. | |
| virtual PxScene * | getScene () const =0 |
| Retrieves the scene which this constraint belongs to. | |
| virtual void | getActors (PxRigidActor *&actor0, PxRigidActor *&actor1) const =0 |
| Retrieves the actors for this constraint. | |
| virtual void | setActors (PxRigidActor *actor0, PxRigidActor *actor1)=0 |
| Sets the actors for this constraint. | |
| virtual void | markDirty ()=0 |
| Notify the scene that the constraint shader data has been updated by the application. | |
| virtual void | setFlags (PxConstraintFlags flags)=0 |
| Set the flags for this constraint. | |
| virtual PxConstraintFlags | getFlags () const =0 |
| Retrieve the flags for this constraint. | |
| virtual void | setFlag (PxConstraintFlag::Enum flag, bool value)=0 |
| Set a flag for this constraint. | |
| virtual void | getForce (PxVec3 &linear, PxVec3 &angular) const =0 |
| Retrieve the constraint force most recently applied to maintain this constraint. | |
| virtual bool | isValid () const =0 |
| whether the constraint is valid. | |
| virtual void | setBreakForce (PxReal linear, PxReal angular)=0 |
| Set the break force and torque thresholds for this constraint. | |
| virtual void | getBreakForce (PxReal &linear, PxReal &angular) const =0 |
| Retrieve the constraint break force and torque thresholds. | |
| virtual void | setMinResponseThreshold (PxReal threshold)=0 |
| Set the minimum response threshold for a constraint row. | |
| virtual PxReal | getMinResponseThreshold () const =0 |
| Retrieve the constraint break force and torque thresholds. | |
| virtual void * | getExternalReference (PxU32 &typeID)=0 |
| Fetch external owner of the constraint. | |
| virtual void | setConstraintFunctions (PxConstraintConnector &connector, const PxConstraintShaderTable &shaders)=0 |
| Set the constraint functions for this constraint. | |
| virtual const char * | getConcreteTypeName () const |
| Returns string name of dynamic type. | |
Protected Member Functions | |
| PX_INLINE | PxConstraint (PxType concreteType, PxBaseFlags baseFlags) |
| PX_INLINE | PxConstraint (PxBaseFlags baseFlags) |
| virtual | ~PxConstraint () |
| virtual bool | isKindOf (const char *name) const |
| Returns whether a given type name matches with the type of this instance. | |
| PX_INLINE PxConstraint::PxConstraint | ( | PxType | concreteType, | |
| PxBaseFlags | baseFlags | |||
| ) | [inline, protected] |
| PX_INLINE PxConstraint::PxConstraint | ( | PxBaseFlags | baseFlags | ) | [inline, protected] |
| virtual PxConstraint::~PxConstraint | ( | ) | [inline, protected, virtual] |
| virtual void PxConstraint::getActors | ( | PxRigidActor *& | actor0, | |
| PxRigidActor *& | actor1 | |||
| ) | const [pure virtual] |
Retrieves the actors for this constraint.
| [out] | actor0 | a reference to the pointer for the first actor |
| [out] | actor1 | a reference to the pointer for the second actor |
| virtual void PxConstraint::getBreakForce | ( | PxReal & | linear, | |
| PxReal & | angular | |||
| ) | const [pure virtual] |
Retrieve the constraint break force and torque thresholds.
| [out] | linear | the linear break threshold |
| [out] | angular | the angular break threshold |
| virtual const char* PxConstraint::getConcreteTypeName | ( | ) | const [inline, virtual] |
Returns string name of dynamic type.
Implements PxBase.
| virtual void* PxConstraint::getExternalReference | ( | PxU32 & | typeID | ) | [pure virtual] |
Fetch external owner of the constraint.
Provides a reference to the external owner of a constraint and a unique owner type ID.
| [out] | typeID | Unique type identifier of the external object. |
| virtual PxConstraintFlags PxConstraint::getFlags | ( | ) | const [pure virtual] |
Retrieve the constraint force most recently applied to maintain this constraint.
| [out] | linear | the constraint force |
| [out] | angular | the constraint torque |
| virtual PxReal PxConstraint::getMinResponseThreshold | ( | ) | const [pure virtual] |
Retrieve the constraint break force and torque thresholds.
| virtual PxScene* PxConstraint::getScene | ( | ) | const [pure virtual] |
Retrieves the scene which this constraint belongs to.
| virtual bool PxConstraint::isKindOf | ( | const char * | superClass | ) | const [inline, protected, virtual] |
Returns whether a given type name matches with the type of this instance.
Reimplemented from PxBase.
References PxBase::isKindOf().
| virtual bool PxConstraint::isValid | ( | ) | const [pure virtual] |
whether the constraint is valid.
A constraint is valid if it has at least one dynamic rigid body or articulation link. A constraint that is not valid may not be inserted into a scene, and therefore a static actor to which an invalid constraint is attached may not be inserted into a scene.
Invalid constraints arise only when an actor to which the constraint is attached has been deleted.
| virtual void PxConstraint::markDirty | ( | ) | [pure virtual] |
Notify the scene that the constraint shader data has been updated by the application.
| virtual void PxConstraint::release | ( | ) | [pure virtual] |
Releases a PxConstraint instance.
Implements PxBase.
| virtual void PxConstraint::setActors | ( | PxRigidActor * | actor0, | |
| PxRigidActor * | actor1 | |||
| ) | [pure virtual] |
Sets the actors for this constraint.
| [in] | actor0 | a reference to the pointer for the first actor |
| [in] | actor1 | a reference to the pointer for the second actor |
| virtual void PxConstraint::setBreakForce | ( | PxReal | linear, | |
| PxReal | angular | |||
| ) | [pure virtual] |
Set the break force and torque thresholds for this constraint.
If either the force or torque measured at the constraint exceed these thresholds the constraint will break.
| [in] | linear | the linear break threshold |
| [in] | angular | the angular break threshold |
| virtual void PxConstraint::setConstraintFunctions | ( | PxConstraintConnector & | connector, | |
| const PxConstraintShaderTable & | shaders | |||
| ) | [pure virtual] |
Set the constraint functions for this constraint.
| [in] | connector | the constraint connector object by which the SDK communicates with the constraint. |
| [in] | shaders | the shader table for the constraint |
| virtual void PxConstraint::setFlag | ( | PxConstraintFlag::Enum | flag, | |
| bool | value | |||
| ) | [pure virtual] |
Set a flag for this constraint.
| [in] | flag | the constraint flag |
| [in] | value | the new value of the flag |
| virtual void PxConstraint::setFlags | ( | PxConstraintFlags | flags | ) | [pure virtual] |
Set the flags for this constraint.
| [in] | flags | the new constraint flags |
| virtual void PxConstraint::setMinResponseThreshold | ( | PxReal | threshold | ) | [pure virtual] |
Set the minimum response threshold for a constraint row.
When using mass modification for a joint or infinite inertia for a jointed body, very stiff solver constraints can be generated which can destabilize simulation. Setting this value to a small positive value (e.g. 1e-8) will cause constraint rows to be ignored if very large changes in impulses will generate only small changes in velocity. When setting this value, also set PxConstraintFlag::eDISABLE_PREPROCESSING. The solver accuracy for this joint may be reduced.
| [in] | threshold | the minimum response threshold |