A joint between two links in an articulation. More...

#include <PxArticulationJointReducedCoordinate.h>

Inheritance diagram for physx::PxArticulationJointReducedCoordinate:

Collaboration diagram for physx::PxArticulationJointReducedCoordinate:

Public Member Functions
virtual PxArticulationLink &	getParentArticulationLink () const =0
	Gets the parent articulation link of this joint.

virtual void	setParentPose (const PxTransform &pose)=0
	Sets the joint pose in the parent link actor frame.

virtual PxTransform	getParentPose () const =0
	Gets the joint pose in the parent link actor frame.

virtual PxArticulationLink &	getChildArticulationLink () const =0
	Gets the child articulation link of this joint.

virtual void	setChildPose (const PxTransform &pose)=0
	Sets the joint pose in the child link actor frame.

virtual PxTransform	getChildPose () const =0
	Gets the joint pose in the child link actor frame.

virtual void	setJointType (PxArticulationJointType::Enum jointType)=0
	Sets the joint type (e.g. revolute).

virtual PxArticulationJointType::Enum	getJointType () const =0
	Gets the joint type.

virtual void	setMotion (PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion)=0
	Sets the joint motion for a given axis.

virtual PxArticulationMotion::Enum	getMotion (PxArticulationAxis::Enum axis) const =0
	Returns the joint motion for the given axis.

PX_DEPRECATED PX_FORCE_INLINE void	setLimit (PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit)
	Sets the joint limits for a given axis.

PX_DEPRECATED PX_FORCE_INLINE void	getLimit (PxArticulationAxis::Enum axis, PxReal &lowLimit, PxReal &highLimit) const
	Returns the joint limits for a given axis.

virtual void	setLimitParams (PxArticulationAxis::Enum axis, const PxArticulationLimit &limit)=0
	Sets the joint limits for a given axis.

virtual PxArticulationLimit	getLimitParams (PxArticulationAxis::Enum axis) const =0
	Returns the joint limits for a given axis.

PX_DEPRECATED PX_FORCE_INLINE void	setDrive (PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType=PxArticulationDriveType::eFORCE)
	Configures a joint drive for the given axis.

PX_DEPRECATED PX_FORCE_INLINE void	getDrive (PxArticulationAxis::Enum axis, PxReal &stiffness, PxReal &damping, PxReal &maxForce, PxArticulationDriveType::Enum &driveType) const
	Gets the joint drive configuration for the given axis.

virtual void	setDriveParams (PxArticulationAxis::Enum axis, const PxArticulationDrive &drive)=0
	Configures a joint drive for the given axis.

virtual PxArticulationDrive	getDriveParams (PxArticulationAxis::Enum axis) const =0
	Gets the joint drive configuration for the given axis.

virtual void	setDriveTarget (PxArticulationAxis::Enum axis, const PxReal target, bool autowake=true)=0
	Sets the joint drive position target for the given axis.

virtual PxReal	getDriveTarget (PxArticulationAxis::Enum axis) const =0
	Returns the joint drive position target for the given axis.

virtual void	setDriveVelocity (PxArticulationAxis::Enum axis, const PxReal targetVel, bool autowake=true)=0
	Sets the joint drive velocity target for the given axis.

virtual PxReal	getDriveVelocity (PxArticulationAxis::Enum axis) const =0
	Returns the joint drive velocity target for the given axis.

virtual void	setArmature (PxArticulationAxis::Enum axis, const PxReal armature)=0
	Sets the joint armature for the given axis.

virtual PxReal	getArmature (PxArticulationAxis::Enum axis) const =0
	Gets the joint armature for the given axis.

virtual void	setFrictionCoefficient (const PxReal coefficient)=0
	Sets the joint friction coefficient, which applies to all joint axes.

virtual PxReal	getFrictionCoefficient () const =0
	Gets the joint friction coefficient.

virtual void	setMaxJointVelocity (const PxReal maxJointV)=0
	Sets the maximal joint velocity enforced for all axes.

virtual PxReal	getMaxJointVelocity () const =0
	Gets the maximal joint velocity enforced for all axes.

virtual void	setJointPosition (PxArticulationAxis::Enum axis, const PxReal jointPos)=0
	Sets the joint position for the given axis.

virtual PxReal	getJointPosition (PxArticulationAxis::Enum axis) const =0
	Gets the joint position for the given axis, i.e. joint degree of freedom (DOF).

virtual void	setJointVelocity (PxArticulationAxis::Enum axis, const PxReal jointVel)=0
	Sets the joint velocity for the given axis.

virtual PxReal	getJointVelocity (PxArticulationAxis::Enum axis) const =0
	Gets the joint velocity for the given axis.

virtual const char *	getConcreteTypeName () const
	Returns the string name of the dynamic type.

Public Member Functions inherited from physx::PxBase
virtual void	release ()=0
	Releases the PxBase instance, please check documentation of release in derived class.

template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object.

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags.

virtual bool	isReleasable () const
	Whether the object is subordinate.

Public Attributes
void *	userData
	The user can assign this to whatever, usually to create a 1:1 relationship with a user object.

Protected Member Functions
PX_INLINE	PxArticulationJointReducedCoordinate (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationJointReducedCoordinate (PxBaseFlags baseFlags)

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

Protected Member Functions inherited from physx::PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags.

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags.

virtual	~PxBase ()
	Destructor.

template<class T >
bool	typeMatch () const

Additional Inherited Members
Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

A joint between two links in an articulation.

See also: PxArticulationReducedCoordinate, PxArticulationLink

Member Function Documentation

◆ getArmature()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getArmature ( PxArticulationAxis::Enum axis ) const

pure virtual

Gets the joint armature for the given axis.

Parameters

[in] axis The target axis.

Returns: The armature set on the given axis.

See also: PxArticulationAxis, setArmature

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getChildArticulationLink()

virtual PxArticulationLink & physx::PxArticulationJointReducedCoordinate::getChildArticulationLink ( ) const

pure virtual

Gets the child articulation link of this joint.

Returns: The child link.

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getChildPose()

virtual PxTransform physx::PxArticulationJointReducedCoordinate::getChildPose ( ) const

pure virtual

Gets the joint pose in the child link actor frame.

Returns: The joint pose.

See also: setChildPose

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getConcreteTypeName()

virtual const char * physx::PxArticulationJointReducedCoordinate::getConcreteTypeName ( ) const

inlinevirtual

Returns the string name of the dynamic type.

Returns: The string name.

Implements physx::PxBase.

◆ getDrive()

PX_DEPRECATED PX_FORCE_INLINE void physx::PxArticulationJointReducedCoordinate::getDrive	(	PxArticulationAxis::Enum	axis,
		PxReal &	stiffness,
		PxReal &	damping,
		PxReal &	maxForce,
		PxArticulationDriveType::Enum &	driveType
	)		const

inline

Gets the joint drive configuration for the given axis.

Parameters

[in]	axis	The motion axis.
[out]	stiffness	The drive stiffness.
[out]	damping	The drive damping.
[out]	maxForce	The force limit.
[out]	driveType	The drive type.

Deprecated:: Use getDriveParams instead. Deprecated since PhysX version 5.1.

See also: getDriveParams, PxArticulationAxis, PxArticulationDriveType, PxArticulationDrive

◆ getDriveParams()

virtual PxArticulationDrive physx::PxArticulationJointReducedCoordinate::getDriveParams ( PxArticulationAxis::Enum axis ) const

pure virtual

Gets the joint drive configuration for the given axis.

Parameters

[in] axis The target axis.

Returns: The drive parameters.

See also: setDriveParams, PxArticulationAxis, PxArticulationDrive

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getDriveTarget()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getDriveTarget ( PxArticulationAxis::Enum axis ) const

pure virtual

Returns the joint drive position target for the given axis.

Parameters

[in] axis The target axis.

Returns: The target position.

See also: PxArticulationAxis, setDriveTarget

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getDriveVelocity()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getDriveVelocity ( PxArticulationAxis::Enum axis ) const

pure virtual

Returns the joint drive velocity target for the given axis.

Parameters

[in] axis The target axis.

Returns: The target velocity.

See also: PxArticulationAxis, setDriveVelocity

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getFrictionCoefficient()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getFrictionCoefficient ( ) const

pure virtual

Gets the joint friction coefficient.

Returns: The joint friction coefficient.

See also: setFrictionCoefficient

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getJointPosition()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getJointPosition ( PxArticulationAxis::Enum axis ) const

pure virtual

Gets the joint position for the given axis, i.e. joint degree of freedom (DOF).

For performance, prefer PxArticulationCache::jointPosition to get joint positions in a batch query.

Parameters

[in] axis The target axis.

Returns: The joint position in linear units (equivalent to scene units) for a translational axis, or radians for a rotational axis.

Note: This call is not allowed while the simulation is running except in a split simulation during PxScene::collide() and up to PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.

See also: PxArticulationAxis, setJointPosition, PxArticulationCache::jointPosition

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getJointType()

virtual PxArticulationJointType::Enum physx::PxArticulationJointReducedCoordinate::getJointType ( ) const

pure virtual

Gets the joint type.

Returns: The joint type.

See also: PxArticulationJointType, setJointType

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getJointVelocity()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getJointVelocity ( PxArticulationAxis::Enum axis ) const

pure virtual

Gets the joint velocity for the given axis.

For performance, prefer PxArticulationCache::jointVelocity to get joint velocities in a batch query.

Parameters

[in] axis The target axis.

Returns: The joint velocity in linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

Note: This call is not allowed while the simulation is running except in a split simulation during PxScene::collide() and up to PxScene::advance(), and in PxContactModifyCallback or in contact report callbacks.

See also: PxArticulationAxis, setJointVelocity, PxArticulationCache::jointVelocity

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getLimit()

PX_DEPRECATED PX_FORCE_INLINE void physx::PxArticulationJointReducedCoordinate::getLimit	(	PxArticulationAxis::Enum	axis,
		PxReal &	lowLimit,
		PxReal &	highLimit
	)		const

inline

Returns the joint limits for a given axis.

Parameters

[in]	axis	The target axis.
[out]	lowLimit	The lower joint limit.
[out]	highLimit	The higher joint limit.

Deprecated:: Use getLimitParams instead. Deprecated since PhysX version 5.1.

See also: getLimitParams, PxArticulationAxis

◆ getLimitParams()

virtual PxArticulationLimit physx::PxArticulationJointReducedCoordinate::getLimitParams ( PxArticulationAxis::Enum axis ) const

pure virtual

Returns the joint limits for a given axis.

Parameters

[in] axis The target axis.

Returns: The joint limits.

See also: setLimitParams, PxArticulationAxis, PxArticulationLimit

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getMaxJointVelocity()

virtual PxReal physx::PxArticulationJointReducedCoordinate::getMaxJointVelocity ( ) const

pure virtual

Gets the maximal joint velocity enforced for all axes.

Returns: The maximal per-axis joint velocity.

See also: setMaxJointVelocity

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getMotion()

virtual PxArticulationMotion::Enum physx::PxArticulationJointReducedCoordinate::getMotion ( PxArticulationAxis::Enum axis ) const

pure virtual

Returns the joint motion for the given axis.

Parameters

[in] axis The target axis.

Returns: The joint motion of the given axis.

See also: PxArticulationAxis, PxArticulationMotion, setMotion

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getParentArticulationLink()

virtual PxArticulationLink & physx::PxArticulationJointReducedCoordinate::getParentArticulationLink ( ) const

pure virtual

Gets the parent articulation link of this joint.

Returns: The parent link.

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ getParentPose()

virtual PxTransform physx::PxArticulationJointReducedCoordinate::getParentPose ( ) const

pure virtual

Gets the joint pose in the parent link actor frame.

Returns: The joint pose.

See also: setParentPose

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ isKindOf()

virtual bool physx::PxArticulationJointReducedCoordinate::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

Returns whether a given type name matches with the type of this instance.

Reimplemented from physx::PxBase.

◆ setArmature()

virtual void physx::PxArticulationJointReducedCoordinate::setArmature	(	PxArticulationAxis::Enum	axis,
		const PxReal	armature
	)

pure virtual

Sets the joint armature for the given axis.

The armature is directly added to the joint-space spatial inertia of the corresponding axis.
The armature is in mass units for a prismatic (i.e. linear) joint, and in mass units * (scene linear units)^2 for a rotational joint.

Parameters

[in]	axis	The target axis.
[in]	armature	The joint axis armature.

Note: This call is not allowed while the simulation is running.

See also: PxArticulationAxis, getArmature

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setChildPose()

virtual void physx::PxArticulationJointReducedCoordinate::setChildPose ( const PxTransform & pose )

pure virtual

Sets the joint pose in the child link actor frame.

Parameters

[in] pose The joint pose. Default: The identity transform.

Note: This call is not allowed while the simulation is running.

See also: getChildPose

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setDrive()

PX_DEPRECATED PX_FORCE_INLINE void physx::PxArticulationJointReducedCoordinate::setDrive	(	PxArticulationAxis::Enum	axis,
		const PxReal	stiffness,
		const PxReal	damping,
		const PxReal	maxForce,
		PxArticulationDriveType::Enum	driveType = `PxArticulationDriveType::eFORCE`
	)

inline

Configures a joint drive for the given axis.

See PxArticulationDrive for parameter details; and the manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Parameters

[in]	axis	The target axis.
[in]	stiffness	The drive stiffness, i.e. the proportional gain of the implicit PD controller. Range: [0, PX_MAX_F32] Default: 0.0
[in]	damping	The drive damping, i.e. the derivative gain of the implicit PD controller. Range: [0, PX_MAX_F32] Default: 0.0
[in]	maxForce	The force limit of the drive (this parameter also limits the force for an acceleration-type drive). Range: [0, PX_MAX_F32] Default: 0.0
[in]	driveType	The drive type,

See also: PxArticulationDriveType.

Note: This call is not allowed while the simulation is running.

Deprecated:: Use setDriveParams instead. Deprecated since PhysX version 5.1.

See also: setDriveParams, PxArticulationAxis, PxArticulationDriveType, PxArticulationDrive, PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES

◆ setDriveParams()

virtual void physx::PxArticulationJointReducedCoordinate::setDriveParams	(	PxArticulationAxis::Enum	axis,
		const PxArticulationDrive &	drive
	)

pure virtual

Configures a joint drive for the given axis.

See PxArticulationDrive for parameter details; and the manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Parameters

[in]	axis	The target axis.
[in]	drive	The drive parameters

Note: This call is not allowed while the simulation is running.

See also: getDriveParams, PxArticulationAxis, PxArticulationDrive

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setDriveTarget()

virtual void physx::PxArticulationJointReducedCoordinate::setDriveTarget	(	PxArticulationAxis::Enum	axis,
		const PxReal	target,
		bool	autowake = `true`
	)

pure virtual

Sets the joint drive position target for the given axis.

The target units are linear units (equivalent to scene units) for a translational axis, or rad for a rotational axis.

Parameters

[in]	axis	The target axis.
[in]	target	The target position.
[in]	autowake	If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call is not allowed while the simulation is running.; For spherical joints, target must be in range [-Pi, Pi].; The target is specified in the parent frame of the joint. If Gp, Gc are the parent and child actor poses in the world frame and Lp, Lc are the parent and child joint frames expressed in the parent and child actor frames then the joint will drive the parent and child links to poses that obey Gp * Lp * J = Gc * Lc. For joints restricted to angular motion, J has the form PxTranfsorm(PxVec3(PxZero), PxExp(PxVec3(twistTarget, swing1Target, swing2Target))). For joints restricted to linear motion, J has the form PxTransform(PxVec3(XTarget, YTarget, ZTarget), PxQuat(PxIdentity)).; For spherical joints with more than 1 degree of freedom, the joint target angles taken together can collectively represent a rotation of greater than Pi around a vector. When this happens the rotation that matches the joint drive target is not the shortest path rotation. The joint pose J that is the outcome after driving to the target pose will always be the equivalent of the shortest path rotation.

See also: PxArticulationAxis, getDriveTarget

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setDriveVelocity()

virtual void physx::PxArticulationJointReducedCoordinate::setDriveVelocity	(	PxArticulationAxis::Enum	axis,
		const PxReal	targetVel,
		bool	autowake = `true`
	)

pure virtual

Sets the joint drive velocity target for the given axis.

The target units are linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

Parameters

[in]	axis	The target axis.
[in]	targetVel	The target velocity.
[in]	autowake	If true and the articulation is in a scene, the call wakes up the articulation and increases the wake counter to PxSceneDesc::wakeCounterResetValue if the counter value is below the reset value.

Note: This call is not allowed while the simulation is running.

See also: PxArticulationAxis, getDriveVelocity

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setFrictionCoefficient()

virtual void physx::PxArticulationJointReducedCoordinate::setFrictionCoefficient ( const PxReal coefficient )

pure virtual

Sets the joint friction coefficient, which applies to all joint axes.

The joint friction is unitless and relates the magnitude of the spatial force [F_trans, T_trans] transmitted from parent to child link to the maximal friction force F_resist that may be applied by the solver to resist joint motion, per axis; i.e. |F_resist| <= coefficient * (|F_trans| + |T_trans|), where F_resist may refer to a linear force or torque depending on the joint axis.
The simulated friction effect is therefore similar to static and Coulomb friction. In order to simulate dynamic joint friction, use a joint drive with zero stiffness and zero velocity target, and an appropriately dimensioned damping parameter.

Parameters

[in] coefficient The joint friction coefficient.

Note: This call is not allowed while the simulation is running.

See also: getFrictionCoefficient

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setJointPosition()

virtual void physx::PxArticulationJointReducedCoordinate::setJointPosition	(	PxArticulationAxis::Enum	axis,
		const PxReal	jointPos
	)

pure virtual

Sets the joint position for the given axis.

For performance, prefer PxArticulationCache::jointPosition to set joint positions in a batch articulation state update.
Use PxArticulationReducedCoordinate::updateKinematic after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

Parameters

[in]	axis	The target axis.
[in]	jointPos	The joint position in linear units (equivalent to scene units) for a translational axis, or radians for a rotational axis.

Note: This call is not allowed while the simulation is running.; For spherical joints, jointPos must be in range [-Pi, Pi].; Joint position is specified in the parent frame of the joint. If Gp, Gc are the parent and child actor poses in the world frame and Lp, Lc are the parent and child joint frames expressed in the parent and child actor frames then the parent and child links will be given poses that obey Gp * Lp * J = Gc * Lc with J denoting the joint pose. For joints restricted to angular motion, J has the form PxTranfsorm(PxVec3(PxZero), PxExp(PxVec3(twistPos, swing1Pos, swing2Pos))). For joints restricted to linear motion, J has the form PxTransform(PxVec3(xPos, yPos, zPos), PxQuat(PxIdentity)).; For spherical joints with more than 1 degree of freedom, the input joint positions taken together can collectively represent a rotation of greater than Pi around a vector. When this happens the rotation that matches the joint positions is not the shortest path rotation. The joint pose J that is the outcome of setting and applying the joint positions will always be the equivalent of the shortest path rotation.

See also: PxArticulationAxis, getJointPosition, PxArticulationCache::jointPosition, PxArticulationReducedCoordinate::updateKinematic

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setJointType()

virtual void physx::PxArticulationJointReducedCoordinate::setJointType ( PxArticulationJointType::Enum jointType )

pure virtual

Sets the joint type (e.g. revolute).

Parameters

[in] jointType The joint type to set.

Note: Setting the joint type is not allowed while the articulation is in a scene. In order to set the joint type, remove and then re-add the articulation to the scene.

See also: PxArticulationJointType, getJointType

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setJointVelocity()

virtual void physx::PxArticulationJointReducedCoordinate::setJointVelocity	(	PxArticulationAxis::Enum	axis,
		const PxReal	jointVel
	)

pure virtual

Sets the joint velocity for the given axis.

For performance, prefer PxArticulationCache::jointVelocity to set joint velocities in a batch articulation state update.
Use PxArticulationReducedCoordinate::updateKinematic after all state updates to the articulation via non-cache API such as this method, in order to update link states for the next simulation frame or querying.

Parameters

[in]	axis	The target axis.
[in]	jointVel	The joint velocity in linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

Note: This call is not allowed while the simulation is running.

See also: PxArticulationAxis, getJointVelocity, PxArticulationCache::jointVelocity, PxArticulationReducedCoordinate::updateKinematic

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setLimit()

PX_DEPRECATED PX_FORCE_INLINE void physx::PxArticulationJointReducedCoordinate::setLimit	(	PxArticulationAxis::Enum	axis,
		const PxReal	lowLimit,
		const PxReal	highLimit
	)

inline

Sets the joint limits for a given axis.

The motion of the corresponding axis should be set to PxArticulationMotion::eLIMITED in order for the limits to be enforced.
The lower limit should be strictly smaller than the higher limit. If the limits should be equal, use PxArticulationMotion::eLOCKED and an appropriate offset in the parent/child joint frames.

Parameters

[in]	axis	The target axis.
[in]	lowLimit	The lower joint limit. Range: [-PX_MAX_F32, highLimit) Default: 0.0
[in]	highLimit	The higher joint limit. Range: (lowLimit, PX_MAX_F32] Default: 0.0

Note: This call is not allowed while the simulation is running.

Deprecated:: Use setLimitParams instead. Deprecated since PhysX version 5.1.

See also: setLimitParams, PxArticulationAxis

◆ setLimitParams()

virtual void physx::PxArticulationJointReducedCoordinate::setLimitParams	(	PxArticulationAxis::Enum	axis,
		const PxArticulationLimit &	limit
	)

pure virtual

Sets the joint limits for a given axis.

The motion of the corresponding axis should be set to PxArticulationMotion::eLIMITED in order for the limits to be enforced.
The lower limit should be strictly smaller than the higher limit. If the limits should be equal, use PxArticulationMotion::eLOCKED and an appropriate offset in the parent/child joint frames.

Parameters

[in]	axis	The target axis.
[in]	limit	The joint limits.

Note: This call is not allowed while the simulation is running.; For spherical joints, limit.min and limit.max must both be in range [-Pi, Pi].

See also: getLimitParams, PxArticulationAxis, PxArticulationLimit

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setMaxJointVelocity()

virtual void physx::PxArticulationJointReducedCoordinate::setMaxJointVelocity ( const PxReal maxJointV )

pure virtual

Sets the maximal joint velocity enforced for all axes.

The solver will apply appropriate joint-space impulses in order to enforce the per-axis joint-velocity limit.
The velocity units are linear units (equivalent to scene units) per second for a translational axis, or radians per second for a rotational axis.

Parameters

[in] maxJointV The maximal per-axis joint velocity.

Note: This call is not allowed while the simulation is running.

See also: getMaxJointVelocity

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setMotion()

virtual void physx::PxArticulationJointReducedCoordinate::setMotion	(	PxArticulationAxis::Enum	axis,
		PxArticulationMotion::Enum	motion
	)

pure virtual

Sets the joint motion for a given axis.

Parameters

[in]	axis	The target axis.
[in]	motion	The motion type to set.

Note: Setting the motion of joint axes is not allowed while the articulation is in a scene. In order to set the motion, remove and then re-add the articulation to the scene.

See also: PxArticulationAxis, PxArticulationMotion, getMotion

Implemented in physx::NpArticulationJointReducedCoordinate.

◆ setParentPose()

virtual void physx::PxArticulationJointReducedCoordinate::setParentPose ( const PxTransform & pose )

pure virtual

Sets the joint pose in the parent link actor frame.

Parameters

[in] pose The joint pose. Default: The identity transform.

Note: This call is not allowed while the simulation is running.

See also: getParentPose

Implemented in physx::NpArticulationJointReducedCoordinate.

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

RavEngine/deps/physx/physx/include/PxArticulationJointReducedCoordinate.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getArmature()

◆ getChildArticulationLink()

◆ getChildPose()

◆ getConcreteTypeName()

◆ getDrive()

◆ getDriveParams()

◆ getDriveTarget()

◆ getDriveVelocity()

◆ getFrictionCoefficient()

◆ getJointPosition()

◆ getJointType()

◆ getJointVelocity()

◆ getLimit()

◆ getLimitParams()

◆ getMaxJointVelocity()

◆ getMotion()

◆ getParentArticulationLink()

◆ getParentPose()

◆ isKindOf()

◆ setArmature()

◆ setChildPose()

◆ setDrive()

◆ setDriveParams()

◆ setDriveTarget()

◆ setDriveVelocity()

◆ setFrictionCoefficient()

◆ setJointPosition()

◆ setJointType()

◆ setJointVelocity()

◆ setLimit()

◆ setLimitParams()

◆ setMaxJointVelocity()

◆ setMotion()

◆ setParentPose()