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Generated by Doxygen 1.5.8 --> +<div class="contents"> +<h1>PxArticulationJoint Class Reference<br> +<small> +[<a class="el" href="group__physics.html">Physics</a>]</small> +</h1><!-- doxytag: class="PxArticulationJoint" --><!-- doxytag: inherits="PxBase" -->a joint between two links in an articulation. +<a href="#_details">More...</a> +<p> +<code>#include <<a class="el" href="PxArticulationJoint_8h-source.html">PxArticulationJoint.h</a>></code> +<p> +<div class="dynheader"> +Inheritance diagram for PxArticulationJoint:</div> +<div class="dynsection"> +<p><center><img src="classPxArticulationJoint__inherit__graph.png" border="0" usemap="#PxArticulationJoint__inherit__map" alt="Inheritance graph"></center> +<map name="PxArticulationJoint__inherit__map"> +<area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="35,16,91,37"></map> +<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div> +<div class="dynheader"> +Collaboration diagram for PxArticulationJoint:</div> +<div class="dynsection"> +<p><center><img src="classPxArticulationJoint__coll__graph.png" border="0" usemap="#PxArticulationJoint__coll__map" alt="Collaboration graph"></center> +<map name="PxArticulationJoint__coll__map"> +<area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="97,106,153,128"><area shape="rect" href="classPxFlags.html" title="PxFlags\< PxBaseFlag::Enum, PxU16 \>" alt="PxFlags\< PxBaseFlag::Enum, PxU16 \>" coords="7,16,244,37"></map> +<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div> + +<p> +<a href="classPxArticulationJoint-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0"> +<tr><td></td></tr> +<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#8dd529f6924fa777f99c1d646ef3bca6">setParentPose</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &pose)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the joint pose in the parent frame <a href="#8dd529f6924fa777f99c1d646ef3bca6"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxTransform.html">PxTransform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#fb82a4d6b9ad7cf3f5fd9d9dc03ccca5">getParentPose</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the joint pose in the parent frame <a href="#fb82a4d6b9ad7cf3f5fd9d9dc03ccca5"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#1ede77555b69f0f137d1d20c8a8ea69c">setChildPose</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &pose)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the joint pose in the child frame <a href="#1ede77555b69f0f137d1d20c8a8ea69c"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxTransform.html">PxTransform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#94dddfaaa11c43955f1e7a4169c2c54e">getChildPose</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the joint pose in the child frame <a href="#94dddfaaa11c43955f1e7a4169c2c54e"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#c6f12118dc05485815cbe08df956b05c">setTargetOrientation</a> (const <a class="el" href="classPxQuat.html">PxQuat</a> &orientation)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the target drive <a href="#c6f12118dc05485815cbe08df956b05c"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxQuat.html">PxQuat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#4705fe257b6620f399081f52c13ffd25">getTargetOrientation</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the target drive position <a href="#4705fe257b6620f399081f52c13ffd25"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#469427827733f35ba286f88b0e48984d">setTargetVelocity</a> (const <a class="el" href="classPxVec3.html">PxVec3</a> &velocity)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the target drive velocity <a href="#469427827733f35ba286f88b0e48984d"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxVec3.html">PxVec3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#a58bb8f6d97492b4ab1b5c2708fb471f">getTargetVelocity</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the target drive velocity <a href="#a58bb8f6d97492b4ab1b5c2708fb471f"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#d9ca201e90b380133e8913fb756a52e2">setDriveType</a> (<a class="el" href="structPxArticulationJointDriveType.html#c6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> driveType)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the drive type <a href="#d9ca201e90b380133e8913fb756a52e2"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <br class="typebreak"> +<a class="el" href="structPxArticulationJointDriveType.html#c6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#4ce41d3bb9b9431cc9c7befa5be8047b">getDriveType</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the drive type <a href="#4ce41d3bb9b9431cc9c7befa5be8047b"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#e00f55560d4d4b78a20d97b20e39dafb">setStiffness</a> (PxReal spring)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the drive strength of the joint acceleration spring. <a href="#e00f55560d4d4b78a20d97b20e39dafb"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#e11979e97274ce2fa604db8615dc5b71">getStiffness</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the drive strength of the joint acceleration spring <a href="#e11979e97274ce2fa604db8615dc5b71"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#e9a7c940a51ae6df5e7e2370692a1f4b">setDamping</a> (PxReal damping)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the damping of the joint acceleration spring <a href="#e9a7c940a51ae6df5e7e2370692a1f4b"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#153604ccd3174c8bb417dc83a06bf2da">getDamping</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the damping of the joint acceleration spring <a href="#153604ccd3174c8bb417dc83a06bf2da"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#023d58f64e1e29a984beb935ca2a4f54">setInternalCompliance</a> (PxReal compliance)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the internal compliance <a href="#023d58f64e1e29a984beb935ca2a4f54"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#c773f11ee13400595c0392e027f9a0a2">getInternalCompliance</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the internal compliance <a href="#c773f11ee13400595c0392e027f9a0a2"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#cba73835e3bdfb85a362e59ba979a959">setExternalCompliance</a> (PxReal compliance)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the drive external compliance <a href="#cba73835e3bdfb85a362e59ba979a959"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#69ecdfb49624645217280df2430009e5">getExternalCompliance</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the drive external compliance <a href="#69ecdfb49624645217280df2430009e5"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#03ba690a377eecbae437748db9047539">setSwingLimit</a> (PxReal yLimit, PxReal zLimit)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the extents of the cone limit. The extents are measured in the frame of the parent. <a href="#03ba690a377eecbae437748db9047539"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#323e42848da8f98bf65af17fe5079456">getSwingLimit</a> (PxReal &yLimit, PxReal &zLimit) const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the extents for the swing limit cone <a href="#323e42848da8f98bf65af17fe5079456"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#df1f03b5945c8db6103f6529736af5a8">setTangentialStiffness</a> (PxReal spring)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the tangential spring for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) <a href="#df1f03b5945c8db6103f6529736af5a8"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#6b48e04c7a64696142a227a971410095">getTangentialStiffness</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the tangential spring for the swing limit cone <a href="#6b48e04c7a64696142a227a971410095"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#9ba1951c929b003bf57dcea26756bf9f">setTangentialDamping</a> (PxReal damping)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the tangential damping for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) <a href="#9ba1951c929b003bf57dcea26756bf9f"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#2d30be935dca3002fa865c258ded66e5">getTangentialDamping</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the tangential damping for the swing limit cone <a href="#2d30be935dca3002fa865c258ded66e5"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#909101d144f45f8fd8fbf1e2f01f9072">setSwingLimitContactDistance</a> (PxReal contactDistance)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the contact distance for the swing limit <a href="#909101d144f45f8fd8fbf1e2f01f9072"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#71c9ff63ac915714b595c184846546a2">getSwingLimitContactDistance</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the contact distance for the swing limit <a href="#71c9ff63ac915714b595c184846546a2"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#c8f06505ec2b8bd187124008f428ce1e">setSwingLimitEnabled</a> (bool enabled)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the flag which enables the swing limit <a href="#c8f06505ec2b8bd187124008f428ce1e"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#01b0447f6c84cdc547f9abd7df7c717c">getSwingLimitEnabled</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the flag which enables the swing limit <a href="#01b0447f6c84cdc547f9abd7df7c717c"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#e3fc7d9b7c327b897a0a33c1844f03c4">setTwistLimit</a> (PxReal lower, PxReal upper)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the bounds of the twistLimit <a href="#e3fc7d9b7c327b897a0a33c1844f03c4"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#af8d7d469a142c4375b333f159c9ca5b">getTwistLimit</a> (PxReal &lower, PxReal &upper) const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the bounds of the twistLimit <a href="#af8d7d469a142c4375b333f159c9ca5b"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#b0d113b6b62dc07cd06c4d6341ce0608">setTwistLimitEnabled</a> (bool enabled)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the flag which enables the twist limit <a href="#b0d113b6b62dc07cd06c4d6341ce0608"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#32aea69d3b9a65c654581a8b55e4f6f1">getTwistLimitEnabled</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the twistLimitEnabled flag <a href="#32aea69d3b9a65c654581a8b55e4f6f1"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#f9c9a92beaf042f7ad7bb3bf95c34b96">setTwistLimitContactDistance</a> (PxReal contactDistance)=0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">set the contact distance for the swing limit <a href="#f9c9a92beaf042f7ad7bb3bf95c34b96"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#cc1318e01659cd325fae18a2cd482bdb">getTwistLimitContactDistance</a> () const =0</td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">get the contact distance for the swing limit <a href="#cc1318e01659cd325fae18a2cd482bdb"></a><br></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#0ec72415d78f1148731de1d9a65a7ab4">getConcreteTypeName</a> () const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns string name of dynamic type. <a href="#0ec72415d78f1148731de1d9a65a7ab4"></a><br></td></tr> +<tr><td colspan="2"><br><h2>Protected Member Functions</h2></td></tr> +<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#8ecb6fb89ec7e18314cfc9c6b255bd41">PxArticulationJoint</a> (<a class="el" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr> + +<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#830694ba6d6b8bbe5dfdc71f446bac54">PxArticulationJoint</a> (<a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr> + +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#2a73babb0e7aa037d07132980281f302">~PxArticulationJoint</a> ()</td></tr> + +<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxArticulationJoint.html#713c786ca5a9d2a93d3b5e8d3cb6943d">isKindOf</a> (const char *name) const </td></tr> + +<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns whether a given type name matches with the type of this instance. <a href="#713c786ca5a9d2a93d3b5e8d3cb6943d"></a><br></td></tr> +</table> +<hr><a name="_details"></a><h2>Detailed Description</h2> +a joint between two links in an articulation. +<p> +The joint model is very similar to a <a class="el" href="classPxSphericalJoint.html" title="A joint which behaves in a similar way to a ball and socket.">PxSphericalJoint</a> with swing and twist limits, and an implicit drive model.<p> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulation.html" title="a tree structure of bodies connected by joints that is treated as a unit by the dynamics...">PxArticulation</a> <a class="el" href="classPxArticulationLink.html" title="a component of an articulation that represents a rigid body">PxArticulationLink</a> </dd></dl> +<hr><h2>Constructor & Destructor Documentation</h2> +<a class="anchor" name="8ecb6fb89ec7e18314cfc9c6b255bd41"></a><!-- doxytag: member="PxArticulationJoint::PxArticulationJoint" ref="8ecb6fb89ec7e18314cfc9c6b255bd41" args="(PxType concreteType, PxBaseFlags baseFlags)" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PX_INLINE PxArticulationJoint::PxArticulationJoint </td> + <td>(</td> + <td class="paramtype"><a class="el" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> </td> + <td class="paramname"> <em>concreteType</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype"><a class="el" href="classPxFlags.html">PxBaseFlags</a> </td> + <td class="paramname"> <em>baseFlags</em></td><td> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td><td><code> [inline, protected]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<a class="anchor" name="830694ba6d6b8bbe5dfdc71f446bac54"></a><!-- doxytag: member="PxArticulationJoint::PxArticulationJoint" ref="830694ba6d6b8bbe5dfdc71f446bac54" args="(PxBaseFlags baseFlags)" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">PX_INLINE PxArticulationJoint::PxArticulationJoint </td> + <td>(</td> + <td class="paramtype"><a class="el" href="classPxFlags.html">PxBaseFlags</a> </td> + <td class="paramname"> <em>baseFlags</em> </td> + <td> ) </td> + <td><code> [inline, protected]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<a class="anchor" name="2a73babb0e7aa037d07132980281f302"></a><!-- doxytag: member="PxArticulationJoint::~PxArticulationJoint" ref="2a73babb0e7aa037d07132980281f302" args="()" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxArticulationJoint::~PxArticulationJoint </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td><code> [inline, protected, virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> + +</div> +</div><p> +<hr><h2>Member Function Documentation</h2> +<a class="anchor" name="94dddfaaa11c43955f1e7a4169c2c54e"></a><!-- doxytag: member="PxArticulationJoint::getChildPose" ref="94dddfaaa11c43955f1e7a4169c2c54e" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual <a class="el" href="classPxTransform.html">PxTransform</a> PxArticulationJoint::getChildPose </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the joint pose in the child frame +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the joint pose in the child frame</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#1ede77555b69f0f137d1d20c8a8ea69c" title="set the joint pose in the child frame">setChildPose()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="0ec72415d78f1148731de1d9a65a7ab4"></a><!-- doxytag: member="PxArticulationJoint::getConcreteTypeName" ref="0ec72415d78f1148731de1d9a65a7ab4" args="() const " --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual const char* PxArticulationJoint::getConcreteTypeName </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [inline, virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +Returns string name of dynamic type. +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>Class name of most derived type of this object. </dd></dl> + +<p>Implements <a class="el" href="classPxBase.html#67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p> + +</div> +</div><p> +<a class="anchor" name="153604ccd3174c8bb417dc83a06bf2da"></a><!-- doxytag: member="PxArticulationJoint::getDamping" ref="153604ccd3174c8bb417dc83a06bf2da" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getDamping </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the damping of the joint acceleration spring +<p> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#e9a7c940a51ae6df5e7e2370692a1f4b" title="set the damping of the joint acceleration spring">setDamping()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="4ce41d3bb9b9431cc9c7befa5be8047b"></a><!-- doxytag: member="PxArticulationJoint::getDriveType" ref="4ce41d3bb9b9431cc9c7befa5be8047b" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual <a class="el" href="structPxArticulationJointDriveType.html#c6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> PxArticulationJoint::getDriveType </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the drive type +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the drive type</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#d9ca201e90b380133e8913fb756a52e2" title="set the drive type">setDriveType()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="69ecdfb49624645217280df2430009e5"></a><!-- doxytag: member="PxArticulationJoint::getExternalCompliance" ref="69ecdfb49624645217280df2430009e5" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getExternalCompliance </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the drive external compliance +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the compliance to external forces</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#cba73835e3bdfb85a362e59ba979a959" title="get the drive external compliance">setExternalCompliance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="c773f11ee13400595c0392e027f9a0a2"></a><!-- doxytag: member="PxArticulationJoint::getInternalCompliance" ref="c773f11ee13400595c0392e027f9a0a2" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getInternalCompliance </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the internal compliance +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the compliance to internal forces</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#023d58f64e1e29a984beb935ca2a4f54" title="set the internal compliance">setInternalCompliance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="fb82a4d6b9ad7cf3f5fd9d9dc03ccca5"></a><!-- doxytag: member="PxArticulationJoint::getParentPose" ref="fb82a4d6b9ad7cf3f5fd9d9dc03ccca5" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual <a class="el" href="classPxTransform.html">PxTransform</a> PxArticulationJoint::getParentPose </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the joint pose in the parent frame +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the joint pose in the parent frame</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#8dd529f6924fa777f99c1d646ef3bca6" title="set the joint pose in the parent frame">setParentPose()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="e11979e97274ce2fa604db8615dc5b71"></a><!-- doxytag: member="PxArticulationJoint::getStiffness" ref="e11979e97274ce2fa604db8615dc5b71" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getStiffness </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the drive strength of the joint acceleration spring +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the spring strength of the joint</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#e00f55560d4d4b78a20d97b20e39dafb" title="set the drive strength of the joint acceleration spring.">setStiffness()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="323e42848da8f98bf65af17fe5079456"></a><!-- doxytag: member="PxArticulationJoint::getSwingLimit" ref="323e42848da8f98bf65af17fe5079456" args="(PxReal &yLimit, PxReal &zLimit) const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::getSwingLimit </td> + <td>(</td> + <td class="paramtype">PxReal & </td> + <td class="paramname"> <em>yLimit</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">PxReal & </td> + <td class="paramname"> <em>zLimit</em></td><td> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td><td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the extents for the swing limit cone +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>yLimit</em> </td><td>the allowed extent of rotation around the y-axis </td></tr> + <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>zLimit</em> </td><td>the allowed extent of rotation around the z-axis</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#03ba690a377eecbae437748db9047539" title="set the extents of the cone limit. The extents are measured in the frame of the parent...">setSwingLimit()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="71c9ff63ac915714b595c184846546a2"></a><!-- doxytag: member="PxArticulationJoint::getSwingLimitContactDistance" ref="71c9ff63ac915714b595c184846546a2" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getSwingLimitContactDistance </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the contact distance for the swing limit +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the contact distance for the swing limit cone</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#909101d144f45f8fd8fbf1e2f01f9072" title="set the contact distance for the swing limit">setSwingLimitContactDistance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="01b0447f6c84cdc547f9abd7df7c717c"></a><!-- doxytag: member="PxArticulationJoint::getSwingLimitEnabled" ref="01b0447f6c84cdc547f9abd7df7c717c" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual bool PxArticulationJoint::getSwingLimitEnabled </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the flag which enables the swing limit +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>whether the swing limit is enabled</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#c8f06505ec2b8bd187124008f428ce1e" title="set the flag which enables the swing limit">setSwingLimitEnabled()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="2d30be935dca3002fa865c258ded66e5"></a><!-- doxytag: member="PxArticulationJoint::getTangentialDamping" ref="2d30be935dca3002fa865c258ded66e5" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getTangentialDamping </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the tangential damping for the swing limit cone +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the tangential damping</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#9ba1951c929b003bf57dcea26756bf9f" title="set the tangential damping for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32))...">setTangentialDamping()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="6b48e04c7a64696142a227a971410095"></a><!-- doxytag: member="PxArticulationJoint::getTangentialStiffness" ref="6b48e04c7a64696142a227a971410095" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getTangentialStiffness </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the tangential spring for the swing limit cone +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the tangential spring</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#df1f03b5945c8db6103f6529736af5a8" title="set the tangential spring for the limit cone Range: ([0, PX_MAX_F32), [0, PX_MAX_F32))...">setTangentialStiffness()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="4705fe257b6620f399081f52c13ffd25"></a><!-- doxytag: member="PxArticulationJoint::getTargetOrientation" ref="4705fe257b6620f399081f52c13ffd25" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual <a class="el" href="classPxQuat.html">PxQuat</a> PxArticulationJoint::getTargetOrientation </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the target drive position +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the joint drive target position</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#c6f12118dc05485815cbe08df956b05c" title="set the target drive">setTargetOrientation()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="a58bb8f6d97492b4ab1b5c2708fb471f"></a><!-- doxytag: member="PxArticulationJoint::getTargetVelocity" ref="a58bb8f6d97492b4ab1b5c2708fb471f" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual <a class="el" href="classPxVec3.html">PxVec3</a> PxArticulationJoint::getTargetVelocity </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the target drive velocity +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the target velocity for the joint</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#469427827733f35ba286f88b0e48984d" title="set the target drive velocity">setTargetVelocity()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="af8d7d469a142c4375b333f159c9ca5b"></a><!-- doxytag: member="PxArticulationJoint::getTwistLimit" ref="af8d7d469a142c4375b333f159c9ca5b" args="(PxReal &lower, PxReal &upper) const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::getTwistLimit </td> + <td>(</td> + <td class="paramtype">PxReal & </td> + <td class="paramname"> <em>lower</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">PxReal & </td> + <td class="paramname"> <em>upper</em></td><td> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td><td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the bounds of the twistLimit +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>lower</em> </td><td>the lower extent of the twist limit </td></tr> + <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>upper</em> </td><td>the upper extent of the twist limit</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#e3fc7d9b7c327b897a0a33c1844f03c4" title="set the bounds of the twistLimit">setTwistLimit()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="cc1318e01659cd325fae18a2cd482bdb"></a><!-- doxytag: member="PxArticulationJoint::getTwistLimitContactDistance" ref="cc1318e01659cd325fae18a2cd482bdb" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual PxReal PxArticulationJoint::getTwistLimitContactDistance </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the contact distance for the swing limit +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>the contact distance for the twist limit</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#f9c9a92beaf042f7ad7bb3bf95c34b96" title="set the contact distance for the swing limit">setTwistLimitContactDistance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="32aea69d3b9a65c654581a8b55e4f6f1"></a><!-- doxytag: member="PxArticulationJoint::getTwistLimitEnabled" ref="32aea69d3b9a65c654581a8b55e4f6f1" args="() const =0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual bool PxArticulationJoint::getTwistLimitEnabled </td> + <td>(</td> + <td class="paramname"> </td> + <td> ) </td> + <td> const<code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the twistLimitEnabled flag +<p> +<dl class="return" compact><dt><b>Returns:</b></dt><dd>whether the twist limit is enabled</dd></dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#b0d113b6b62dc07cd06c4d6341ce0608" title="set the flag which enables the twist limit">setTwistLimitEnabled()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="713c786ca5a9d2a93d3b5e8d3cb6943d"></a><!-- doxytag: member="PxArticulationJoint::isKindOf" ref="713c786ca5a9d2a93d3b5e8d3cb6943d" args="(const char *name) const " --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual bool PxArticulationJoint::isKindOf </td> + <td>(</td> + <td class="paramtype">const char * </td> + <td class="paramname"> <em>superClass</em> </td> + <td> ) </td> + <td> const<code> [inline, protected, virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +Returns whether a given type name matches with the type of this instance. +<p> + +<p>Reimplemented from <a class="el" href="classPxBase.html#ae9d444c7cfd1715a101350a1b1226ef">PxBase</a>.</p> + +<p>References <a class="el" href="PxBase_8h-source.html#l00178">PxBase::isKindOf()</a>.</p> + +</div> +</div><p> +<a class="anchor" name="1ede77555b69f0f137d1d20c8a8ea69c"></a><!-- doxytag: member="PxArticulationJoint::setChildPose" ref="1ede77555b69f0f137d1d20c8a8ea69c" args="(const PxTransform &pose)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setChildPose </td> + <td>(</td> + <td class="paramtype">const <a class="el" href="classPxTransform.html">PxTransform</a> & </td> + <td class="paramname"> <em>pose</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the joint pose in the child frame +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>pose</em> </td><td>the joint pose in the child frame <b>Default:</b> the identity matrix</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#94dddfaaa11c43955f1e7a4169c2c54e" title="get the joint pose in the child frame">getChildPose()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="e9a7c940a51ae6df5e7e2370692a1f4b"></a><!-- doxytag: member="PxArticulationJoint::setDamping" ref="e9a7c940a51ae6df5e7e2370692a1f4b" args="(PxReal damping)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setDamping </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>damping</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the damping of the joint acceleration spring +<p> +The acceleration generated by the spring drive is proportional to this value and the difference between the angular velocity of the joint and the target drive velocity.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>damping</em> </td><td>the damping of the joint drive <b>Range:</b> [0, PX_MAX_F32)<br> + <b>Default:</b> 0.0</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#153604ccd3174c8bb417dc83a06bf2da" title="get the damping of the joint acceleration spring">getDamping()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="d9ca201e90b380133e8913fb756a52e2"></a><!-- doxytag: member="PxArticulationJoint::setDriveType" ref="d9ca201e90b380133e8913fb756a52e2" args="(PxArticulationJointDriveType::Enum driveType)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setDriveType </td> + <td>(</td> + <td class="paramtype"><a class="el" href="structPxArticulationJointDriveType.html#c6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> </td> + <td class="paramname"> <em>driveType</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the drive type +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>driveType</em> </td><td>the drive type for the joint <b>Default:</b> <a class="el" href="structPxArticulationJointDriveType.html#c6be2c7afe87dd7755dae4aa7a0fdfe26efbffee5445ed12550a3cb4f1e1cd9e">PxArticulationJointDriveType::eTARGET</a></td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#4ce41d3bb9b9431cc9c7befa5be8047b" title="get the drive type">getDriveType()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="cba73835e3bdfb85a362e59ba979a959"></a><!-- doxytag: member="PxArticulationJoint::setExternalCompliance" ref="cba73835e3bdfb85a362e59ba979a959" args="(PxReal compliance)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setExternalCompliance </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>compliance</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +get the drive external compliance +<p> +Compliance determines the extent to which the joint resists acceleration.<p> +There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.<p> +A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>compliance</em> </td><td>the compliance to external forces <b> Range: (0, 1]</b> <b> Default:</b> 0.0</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#69ecdfb49624645217280df2430009e5" title="get the drive external compliance">getExternalCompliance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="023d58f64e1e29a984beb935ca2a4f54"></a><!-- doxytag: member="PxArticulationJoint::setInternalCompliance" ref="023d58f64e1e29a984beb935ca2a4f54" args="(PxReal compliance)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setInternalCompliance </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>compliance</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the internal compliance +<p> +Compliance determines the extent to which the joint resists acceleration.<p> +There are separate values for resistance to accelerations caused by external forces such as gravity and contact forces, and internal forces generated from other joints.<p> +A low compliance means that forces have little effect, a compliance of 1 means the joint does not resist such forces at all.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>compliance</em> </td><td>the compliance to internal forces <b> Range: (0, 1]</b> <b> Default:</b> 0.0</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#c773f11ee13400595c0392e027f9a0a2" title="get the internal compliance">getInternalCompliance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="8dd529f6924fa777f99c1d646ef3bca6"></a><!-- doxytag: member="PxArticulationJoint::setParentPose" ref="8dd529f6924fa777f99c1d646ef3bca6" args="(const PxTransform &pose)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setParentPose </td> + <td>(</td> + <td class="paramtype">const <a class="el" href="classPxTransform.html">PxTransform</a> & </td> + <td class="paramname"> <em>pose</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the joint pose in the parent frame +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>pose</em> </td><td>the joint pose in the parent frame <b>Default:</b> the identity matrix</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#fb82a4d6b9ad7cf3f5fd9d9dc03ccca5" title="get the joint pose in the parent frame">getParentPose()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="e00f55560d4d4b78a20d97b20e39dafb"></a><!-- doxytag: member="PxArticulationJoint::setStiffness" ref="e00f55560d4d4b78a20d97b20e39dafb" args="(PxReal spring)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setStiffness </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>spring</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the drive strength of the joint acceleration spring. +<p> +The acceleration generated by the spring drive is proportional to this value and the angle between the drive target position and the current position.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>spring</em> </td><td>the spring strength of the joint <b>Range:</b> [0, PX_MAX_F32)<br> + <b>Default:</b> 0.0</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#e11979e97274ce2fa604db8615dc5b71" title="get the drive strength of the joint acceleration spring">getStiffness()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="03ba690a377eecbae437748db9047539"></a><!-- doxytag: member="PxArticulationJoint::setSwingLimit" ref="03ba690a377eecbae437748db9047539" args="(PxReal yLimit, PxReal zLimit)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setSwingLimit </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>yLimit</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>zLimit</em></td><td> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td><td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the extents of the cone limit. The extents are measured in the frame of the parent. +<p> +Note that very small or highly elliptical limit cones may result in jitter.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>yLimit</em> </td><td>the allowed extent of rotation around the y-axis </td></tr> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>zLimit</em> </td><td>the allowed extent of rotation around the z-axis <b> Range:</b> ( (0, Pi), (0, Pi) ) <b> Default:</b> (Pi/4, Pi/4) </td></tr> + </table> +</dl> + +</div> +</div><p> +<a class="anchor" name="909101d144f45f8fd8fbf1e2f01f9072"></a><!-- doxytag: member="PxArticulationJoint::setSwingLimitContactDistance" ref="909101d144f45f8fd8fbf1e2f01f9072" args="(PxReal contactDistance)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setSwingLimitContactDistance </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>contactDistance</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the contact distance for the swing limit +<p> +The contact distance should be less than either limit angle.<p> +<b> Range:</b> [0, Pi] <b> Default:</b> 0.05 radians<p> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#71c9ff63ac915714b595c184846546a2" title="get the contact distance for the swing limit">getSwingLimitContactDistance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="c8f06505ec2b8bd187124008f428ce1e"></a><!-- doxytag: member="PxArticulationJoint::setSwingLimitEnabled" ref="c8f06505ec2b8bd187124008f428ce1e" args="(bool enabled)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setSwingLimitEnabled </td> + <td>(</td> + <td class="paramtype">bool </td> + <td class="paramname"> <em>enabled</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the flag which enables the swing limit +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>enabled</em> </td><td>whether the limit is enabled <b>Default:</b> false</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#01b0447f6c84cdc547f9abd7df7c717c" title="get the flag which enables the swing limit">getSwingLimitEnabled()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="9ba1951c929b003bf57dcea26756bf9f"></a><!-- doxytag: member="PxArticulationJoint::setTangentialDamping" ref="9ba1951c929b003bf57dcea26756bf9f" args="(PxReal damping)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTangentialDamping </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>damping</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the tangential damping for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) +<p> + +</div> +</div><p> +<a class="anchor" name="df1f03b5945c8db6103f6529736af5a8"></a><!-- doxytag: member="PxArticulationJoint::setTangentialStiffness" ref="df1f03b5945c8db6103f6529736af5a8" args="(PxReal spring)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTangentialStiffness </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>spring</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the tangential spring for the limit cone <b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32)) <b> Default:</b> (0.0, 0.0) +<p> + +</div> +</div><p> +<a class="anchor" name="c6f12118dc05485815cbe08df956b05c"></a><!-- doxytag: member="PxArticulationJoint::setTargetOrientation" ref="c6f12118dc05485815cbe08df956b05c" args="(const PxQuat &orientation)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTargetOrientation </td> + <td>(</td> + <td class="paramtype">const <a class="el" href="classPxQuat.html">PxQuat</a> & </td> + <td class="paramname"> <em>orientation</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the target drive +<p> +This is the target position for the joint drive, measured in the parent constraint frame.<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>orientation</em> </td><td>the target orientation for the joint <b>Range:</b> a unit quaternion <b>Default:</b> the identity quaternion</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#4705fe257b6620f399081f52c13ffd25" title="get the target drive position">getTargetOrientation()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="469427827733f35ba286f88b0e48984d"></a><!-- doxytag: member="PxArticulationJoint::setTargetVelocity" ref="469427827733f35ba286f88b0e48984d" args="(const PxVec3 &velocity)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTargetVelocity </td> + <td>(</td> + <td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> & </td> + <td class="paramname"> <em>velocity</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the target drive velocity +<p> +This is the target velocity for the joint drive, measured in the parent constraint frame<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>velocity</em> </td><td>the target velocity for the joint <b>Default:</b> the zero vector</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#a58bb8f6d97492b4ab1b5c2708fb471f" title="get the target drive velocity">getTargetVelocity()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="e3fc7d9b7c327b897a0a33c1844f03c4"></a><!-- doxytag: member="PxArticulationJoint::setTwistLimit" ref="e3fc7d9b7c327b897a0a33c1844f03c4" args="(PxReal lower, PxReal upper)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTwistLimit </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>lower</em>, </td> + </tr> + <tr> + <td class="paramkey"></td> + <td></td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>upper</em></td><td> </td> + </tr> + <tr> + <td></td> + <td>)</td> + <td></td><td></td><td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the bounds of the twistLimit +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>lower</em> </td><td>the lower extent of the twist limit </td></tr> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>upper</em> </td><td>the upper extent of the twist limit <b> Range: (-Pi, Pi)</b> <b> Default:</b> (-Pi/4, Pi/4)</td></tr> + </table> +</dl> +The lower limit value must be less than the upper limit if the limit is enabled<p> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#af8d7d469a142c4375b333f159c9ca5b" title="get the bounds of the twistLimit">getTwistLimit()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="f9c9a92beaf042f7ad7bb3bf95c34b96"></a><!-- doxytag: member="PxArticulationJoint::setTwistLimitContactDistance" ref="f9c9a92beaf042f7ad7bb3bf95c34b96" args="(PxReal contactDistance)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTwistLimitContactDistance </td> + <td>(</td> + <td class="paramtype">PxReal </td> + <td class="paramname"> <em>contactDistance</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the contact distance for the swing limit +<p> +The contact distance should be less than half the distance between the upper and lower limits.<p> +<b> Range:</b> [0, Pi) <b> Default:</b> 0.05 radians<p> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#cc1318e01659cd325fae18a2cd482bdb" title="get the contact distance for the swing limit">getTwistLimitContactDistance()</a> </dd></dl> + +</div> +</div><p> +<a class="anchor" name="b0d113b6b62dc07cd06c4d6341ce0608"></a><!-- doxytag: member="PxArticulationJoint::setTwistLimitEnabled" ref="b0d113b6b62dc07cd06c4d6341ce0608" args="(bool enabled)=0" --> +<div class="memitem"> +<div class="memproto"> + <table class="memname"> + <tr> + <td class="memname">virtual void PxArticulationJoint::setTwistLimitEnabled </td> + <td>(</td> + <td class="paramtype">bool </td> + <td class="paramname"> <em>enabled</em> </td> + <td> ) </td> + <td><code> [pure virtual]</code></td> + </tr> + </table> +</div> +<div class="memdoc"> + +<p> +set the flag which enables the twist limit +<p> +<dl compact><dt><b>Parameters:</b></dt><dd> + <table border="0" cellspacing="2" cellpadding="0"> + <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>enabled</em> </td><td>whether the twist limit is enabled <b>Default:</b> false</td></tr> + </table> +</dl> +<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxArticulationJoint.html#32aea69d3b9a65c654581a8b55e4f6f1" title="get the twistLimitEnabled flag">getTwistLimitEnabled()</a> </dd></dl> + +</div> +</div><p> +<hr>The documentation for this class was generated from the following file:<ul> +<li><a class="el" href="PxArticulationJoint_8h-source.html">PxArticulationJoint.h</a></ul> +</div> + +<hr style="width: 100%; height: 2px;"><br> +Copyright © 2008-2016 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. <a href="http://www.nvidia.com ">www.nvidia.com</a> +</body> +</html> |