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<html>
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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxD6Joint Class Reference</title>
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<h1>PxD6Joint Class Reference<br>
<small>
[<a class="el" href="group__extensions.html">Extensions</a>]</small>
</h1><!-- doxytag: class="PxD6Joint" --><!-- doxytag: inherits="PxJoint" -->A D6 joint is a general constraint between two actors.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="PxD6Joint_8h-source.html">PxD6Joint.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for PxD6Joint:</div>
<div class="dynsection">
<p><center><img src="classPxD6Joint__inherit__graph.png" border="0" usemap="#PxD6Joint__inherit__map" alt="Inheritance graph"></center>
<map name="PxD6Joint__inherit__map">
<area shape="rect" href="classPxJoint.html" title="a base interface providing common functionality for PhysX joints" alt="PxJoint" coords="15,85,68,106"><area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="13,16,69,37"></map>
<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div>
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Collaboration diagram for PxD6Joint:</div>
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<p><center><img src="classPxD6Joint__coll__graph.png" border="0" usemap="#PxD6Joint__coll__map" alt="Collaboration graph"></center>
<map name="PxD6Joint__coll__map">
<area shape="rect" href="classPxJoint.html" title="a base interface providing common functionality for PhysX joints" alt="PxJoint" coords="99,178,152,200"><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="classPxD6Joint-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="classPxD6Joint.html#6253223e558ef6c3fd22a4d558dee97d">setMotion</a> (<a class="el" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis, <a class="el" href="structPxD6Motion.html#c93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> type)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the motion type around the specified axis. <a href="#6253223e558ef6c3fd22a4d558dee97d"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="structPxD6Motion.html#c93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#8bd1ae81eb92e4dbd2c695fd9d8bfba8">getMotion</a> (<a class="el" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the motion type around the specified axis. <a href="#8bd1ae81eb92e4dbd2c695fd9d8bfba8"></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="classPxD6Joint.html#a835389fb51c86ffb0a0aa32cbeec4f4">getTwist</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get the twist angle of the joint <a href="#a835389fb51c86ffb0a0aa32cbeec4f4"></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="classPxD6Joint.html#ae0e5965a6423397bd3351c2b975a650">getSwingYAngle</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get the swing angle of the joint from the Y axis <a href="#ae0e5965a6423397bd3351c2b975a650"></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="classPxD6Joint.html#e8551ae9f94587a55c0eae851d612fd7">getSwingZAngle</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get the swing angle of the joint from the Z axis <a href="#e8551ae9f94587a55c0eae851d612fd7"></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="classPxD6Joint.html#8ceb03a43499c3f85a01ba00eea0c034">setLinearLimit</a> (const <a class="el" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> &limit)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the linear limit for the joint. <a href="#8ceb03a43499c3f85a01ba00eea0c034"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#04d34a3dc0963022996402bd30d7043d">getLinearLimit</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear limit for the joint. <a href="#04d34a3dc0963022996402bd30d7043d"></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="classPxD6Joint.html#6461182921ceab095997f58891fb4adc">setTwistLimit</a> (const <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> &limit)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the twist limit for the joint. <a href="#6461182921ceab095997f58891fb4adc"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#d61577f7428193e59399a4dd4a24e153">getTwistLimit</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the twist limit for the joint. <a href="#d61577f7428193e59399a4dd4a24e153"></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="classPxD6Joint.html#72a1f48dffd418d278ec9beb110a9236">setSwingLimit</a> (const <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> &limit)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the swing cone limit for the joint. <a href="#72a1f48dffd418d278ec9beb110a9236"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#f2919895cc7726ee85c25600ae849362">getSwingLimit</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the cone limit for the joint. <a href="#f2919895cc7726ee85c25600ae849362"></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="classPxD6Joint.html#85811f1770be8ff4ea79b4e49b313599">setDrive</a> (<a class="el" href="structPxD6Drive.html#08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> index, const <a class="el" href="classPxD6JointDrive.html">PxD6JointDrive</a> &drive)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the drive parameters for the specified drive type. <a href="#85811f1770be8ff4ea79b4e49b313599"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxD6JointDrive.html">PxD6JointDrive</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#bcafdd8e465cac74e3f1b4770e9e1373">getDrive</a> (<a class="el" href="structPxD6Drive.html#08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> index) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the drive parameters for the specified drive type. <a href="#bcafdd8e465cac74e3f1b4770e9e1373"></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="classPxD6Joint.html#22471ee961a299903402b10d786d36c7">setDrivePosition</a> (const <a class="el" href="classPxTransform.html">PxTransform</a> &pose)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the drive goal pose. <a href="#22471ee961a299903402b10d786d36c7"></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="classPxD6Joint.html#cffd2ae67bab2eae2b03be5c57ae564a">getDrivePosition</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the drive goal pose. <a href="#cffd2ae67bab2eae2b03be5c57ae564a"></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="classPxD6Joint.html#f23b422a5ed89350c0f04664ae2351cc">setDriveVelocity</a> (const <a class="el" href="classPxVec3.html">PxVec3</a> &linear, const <a class="el" href="classPxVec3.html">PxVec3</a> &angular)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the target goal velocity for drive. <a href="#f23b422a5ed89350c0f04664ae2351cc"></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="classPxD6Joint.html#caebc6c005a26fbbba5faa65721e9269">getDriveVelocity</a> (<a class="el" href="classPxVec3.html">PxVec3</a> &linear, <a class="el" href="classPxVec3.html">PxVec3</a> &angular) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the target goal velocity for joint drive. <a href="#caebc6c005a26fbbba5faa65721e9269"></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="classPxD6Joint.html#acb253ce8a5aad477afd96f1202d4b61">setProjectionLinearTolerance</a> (PxReal tolerance)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the linear tolerance threshold for projection. Projection is enabled if <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> is set for the joint. <a href="#acb253ce8a5aad477afd96f1202d4b61"></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="classPxD6Joint.html#e784aa5547471041bad55269fb03ad0a">getProjectionLinearTolerance</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear tolerance threshold for projection. <a href="#e784aa5547471041bad55269fb03ad0a"></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="classPxD6Joint.html#ba8db764141f62a0a160a0752e7e65d7">setProjectionAngularTolerance</a> (PxReal tolerance)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the angular tolerance threshold for projection. Projection is enabled if <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> is set for the joint. <a href="#ba8db764141f62a0a160a0752e7e65d7"></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="classPxD6Joint.html#fe17636945bccdb5ecbfe360b90d9887">getProjectionAngularTolerance</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the angular tolerance threshold for projection. <a href="#fe17636945bccdb5ecbfe360b90d9887"></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="classPxD6Joint.html#2fc045aaccd034b0cc8654b3f6848767">getConcreteTypeName</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns string name of <a class="el" href="classPxD6Joint.html" title="A D6 joint is a general constraint between two actors.">PxD6Joint</a>, used for serialization. <a href="#2fc045aaccd034b0cc8654b3f6848767"></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="classPxD6Joint.html#aa40f40276764b205e795befd10d1a50">PxD6Joint</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="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aa40f40276764b205e795befd10d1a50"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">PX_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6Joint.html#06fb77acc64f320b039e1aa14129db1c">PxD6Joint</a> (<a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Deserialization constructor. <a href="#06fb77acc64f320b039e1aa14129db1c"></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="classPxD6Joint.html#6beea386f0d7451ab3ba94148a5da298">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="#6beea386f0d7451ab3ba94148a5da298"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
A D6 joint is a general constraint between two actors.
<p>
It allows the application to individually define the linear and rotational degrees of freedom, and also to configure a variety of limits and driven degrees of freedom.<p>
By default all degrees of freedom are locked. So to create a prismatic joint with free motion along the x-axis:<p>
<div class="fragment"><pre class="fragment"> ...
joint->setMotion(<a class="code" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca128880bf4908a96affb5d3f4e3707080129037" title="motion along the X axix">PxD6Axis::eX</a>, PxD6JointMotion::eFREE);
...
</pre></div><p>
Or a Revolute joint with motion free allowed around the x-axis:<p>
<div class="fragment"><pre class="fragment"> ...
joint->setMotion(<a class="code" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca1288807854f35a1d4518d556eee64c2cfcec10" title="motion around the X axis">PxD6Axis::eTWIST</a>, PxD6JointMotion::eFREE);
...
</pre></div><p>
Degrees of freedom may also be set to limited instead of locked. There is a single limit value for all linear degrees of freedom, which may act as a linear, circular, or spherical limit depending on which degrees of freedom are limited.<p>
If the twist degree of freedom is limited, is supports upper and lower limits. The two swing degrees of freedom are limited with a cone limit. <dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__extensions.html#g5d942bf8c3069024e50a8dd2254c390c" title="Create a D6 joint.">PxD6JointCreate()</a> <a class="el" href="classPxJoint.html" title="a base interface providing common functionality for PhysX joints">PxJoint</a> </dd></dl>
<hr><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" name="aa40f40276764b205e795befd10d1a50"></a><!-- doxytag: member="PxD6Joint::PxD6Joint" ref="aa40f40276764b205e795befd10d1a50" args="(PxType concreteType, PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxD6Joint::PxD6Joint </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>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [inline, protected]</code></td>
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<div class="memdoc">
<p>
Constructor.
<p>
</div>
</div><p>
<a class="anchor" name="06fb77acc64f320b039e1aa14129db1c"></a><!-- doxytag: member="PxD6Joint::PxD6Joint" ref="06fb77acc64f320b039e1aa14129db1c" args="(PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxD6Joint::PxD6Joint </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>
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<div class="memdoc">
<p>
Deserialization constructor.
<p>
</div>
</div><p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="2fc045aaccd034b0cc8654b3f6848767"></a><!-- doxytag: member="PxD6Joint::getConcreteTypeName" ref="2fc045aaccd034b0cc8654b3f6848767" args="() const " -->
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<td class="memname">virtual const char* PxD6Joint::getConcreteTypeName </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [inline, virtual]</code></td>
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<div class="memdoc">
<p>
Returns string name of <a class="el" href="classPxD6Joint.html" title="A D6 joint is a general constraint between two actors.">PxD6Joint</a>, used for serialization.
<p>
<p>Implements <a class="el" href="classPxBase.html#67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p>
</div>
</div><p>
<a class="anchor" name="bcafdd8e465cac74e3f1b4770e9e1373"></a><!-- doxytag: member="PxD6Joint::getDrive" ref="bcafdd8e465cac74e3f1b4770e9e1373" args="(PxD6Drive::Enum index) const =0" -->
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<td class="memname">virtual <a class="el" href="classPxD6JointDrive.html">PxD6JointDrive</a> PxD6Joint::getDrive </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxD6Drive.html#08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> </td>
<td class="paramname"> <em>index</em> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<div class="memdoc">
<p>
Get the drive parameters for the specified 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>index</em> </td><td>the specified drive type</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#85811f1770be8ff4ea79b4e49b313599" title="Set the drive parameters for the specified drive type.">setDrive()</a> <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint">PxD6JointDrive</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="cffd2ae67bab2eae2b03be5c57ae564a"></a><!-- doxytag: member="PxD6Joint::getDrivePosition" ref="cffd2ae67bab2eae2b03be5c57ae564a" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxTransform.html">PxTransform</a> PxD6Joint::getDrivePosition </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<div class="memdoc">
<p>
Get the drive goal pose.
<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#cffd2ae67bab2eae2b03be5c57ae564a" title="Get the drive goal pose.">getDrivePosition()</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="caebc6c005a26fbbba5faa65721e9269"></a><!-- doxytag: member="PxD6Joint::getDriveVelocity" ref="caebc6c005a26fbbba5faa65721e9269" args="(PxVec3 &linear, PxVec3 &angular) const =0" -->
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<td class="memname">virtual void PxD6Joint::getDriveVelocity </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classPxVec3.html">PxVec3</a> & </td>
<td class="paramname"> <em>linear</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classPxVec3.html">PxVec3</a> & </td>
<td class="paramname"> <em>angular</em></td><td> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td> const<code> [pure virtual]</code></td>
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<div class="memdoc">
<p>
Get the target goal velocity for joint drive.
<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>linear</em> </td><td>The goal velocity for linear drive </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>angular</em> </td><td>The goal velocity for angular drive</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#f23b422a5ed89350c0f04664ae2351cc" title="Set the target goal velocity for drive.">setDriveVelocity()</a> </dd></dl>
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</div><p>
<a class="anchor" name="04d34a3dc0963022996402bd30d7043d"></a><!-- doxytag: member="PxD6Joint::getLinearLimit" ref="04d34a3dc0963022996402bd30d7043d" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> PxD6Joint::getLinearLimit </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the linear limit for the joint.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the linear limit structure</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#8ceb03a43499c3f85a01ba00eea0c034" title="Set the linear limit for the joint.">setLinearLimit()</a> <a class="el" href="classPxJointLinearLimit.html" title="Describes a one-sided linear limit.">PxJointLinearLimit</a> </dd></dl>
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</div><p>
<a class="anchor" name="8bd1ae81eb92e4dbd2c695fd9d8bfba8"></a><!-- doxytag: member="PxD6Joint::getMotion" ref="8bd1ae81eb92e4dbd2c695fd9d8bfba8" args="(PxD6Axis::Enum axis) const =0" -->
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<td class="memname">virtual <a class="el" href="structPxD6Motion.html#c93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> PxD6Joint::getMotion </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> </td>
<td class="paramname"> <em>axis</em> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<div class="memdoc">
<p>
Get the motion type around the specified axis.
<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#6253223e558ef6c3fd22a4d558dee97d" title="Set the motion type around the specified axis.">setMotion()</a> <a class="el" href="structPxD6Axis.html" title="Used to specify one of the degrees of freedom of a D6 joint.">PxD6Axis</a> <a class="el" href="structPxD6Motion.html" title="Used to specify the range of motions allowed for a degree of freedom in a D6 joint...">PxD6Motion</a></dd></dl>
<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>axis</em> </td><td>the degree of freedom around which the motion type is specified </td></tr>
</table>
</dl>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the motion type around the specified axis </dd></dl>
</div>
</div><p>
<a class="anchor" name="fe17636945bccdb5ecbfe360b90d9887"></a><!-- doxytag: member="PxD6Joint::getProjectionAngularTolerance" ref="fe17636945bccdb5ecbfe360b90d9887" args="() const =0" -->
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<td class="memname">virtual PxReal PxD6Joint::getProjectionAngularTolerance </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the angular tolerance threshold for projection.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>tolerance the angular tolerance threshold in radians</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#ba8db764141f62a0a160a0752e7e65d7" title="Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJ...">setProjectionAngularTolerance()</a> </dd></dl>
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</div><p>
<a class="anchor" name="e784aa5547471041bad55269fb03ad0a"></a><!-- doxytag: member="PxD6Joint::getProjectionLinearTolerance" ref="e784aa5547471041bad55269fb03ad0a" args="() const =0" -->
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<td class="memname">virtual PxReal PxD6Joint::getProjectionLinearTolerance </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the linear tolerance threshold for projection.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the linear tolerance threshold</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#acb253ce8a5aad477afd96f1202d4b61" title="Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJE...">setProjectionLinearTolerance()</a> </dd></dl>
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</div><p>
<a class="anchor" name="f2919895cc7726ee85c25600ae849362"></a><!-- doxytag: member="PxD6Joint::getSwingLimit" ref="f2919895cc7726ee85c25600ae849362" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> PxD6Joint::getSwingLimit </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the cone limit for the joint.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the swing limit structure</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd>setLimitCone() <a class="el" href="classPxJointLimitCone.html" title="Describes an elliptical conical joint limit. Note that very small or highly elliptical...">PxJointLimitCone</a> </dd></dl>
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</div><p>
<a class="anchor" name="ae0e5965a6423397bd3351c2b975a650"></a><!-- doxytag: member="PxD6Joint::getSwingYAngle" ref="ae0e5965a6423397bd3351c2b975a650" args="() const =0" -->
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<td class="memname">virtual PxReal PxD6Joint::getSwingYAngle </td>
<td>(</td>
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<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
get the swing angle of the joint from the Y axis
<p>
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<a class="anchor" name="e8551ae9f94587a55c0eae851d612fd7"></a><!-- doxytag: member="PxD6Joint::getSwingZAngle" ref="e8551ae9f94587a55c0eae851d612fd7" args="() const =0" -->
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<td class="memname">virtual PxReal PxD6Joint::getSwingZAngle </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<div class="memdoc">
<p>
get the swing angle of the joint from the Z axis
<p>
</div>
</div><p>
<a class="anchor" name="a835389fb51c86ffb0a0aa32cbeec4f4"></a><!-- doxytag: member="PxD6Joint::getTwist" ref="a835389fb51c86ffb0a0aa32cbeec4f4" args="() const =0" -->
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<td class="memname">virtual PxReal PxD6Joint::getTwist </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
get the twist angle of the joint
<p>
</div>
</div><p>
<a class="anchor" name="d61577f7428193e59399a4dd4a24e153"></a><!-- doxytag: member="PxD6Joint::getTwistLimit" ref="d61577f7428193e59399a4dd4a24e153" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> PxD6Joint::getTwistLimit </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the twist limit for the joint.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the twist limit structure</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#6461182921ceab095997f58891fb4adc" title="Set the twist limit for the joint.">setTwistLimit()</a> <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> </dd></dl>
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<a class="anchor" name="6beea386f0d7451ab3ba94148a5da298"></a><!-- doxytag: member="PxD6Joint::isKindOf" ref="6beea386f0d7451ab3ba94148a5da298" args="(const char *name) const " -->
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<td class="memname">virtual bool PxD6Joint::isKindOf </td>
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<td class="paramtype">const char * </td>
<td class="paramname"> <em>name</em> </td>
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<td> const<code> [inline, protected, virtual]</code></td>
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<p>
Returns whether a given type name matches with the type of this instance.
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<p>Reimplemented from <a class="el" href="classPxJoint.html#bf37afb8ce63b5402cf69ab6e9344b28">PxJoint</a>.</p>
<p>References <a class="el" href="PxJoint_8h-source.html#l00400">PxJoint::isKindOf()</a>.</p>
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<a class="anchor" name="85811f1770be8ff4ea79b4e49b313599"></a><!-- doxytag: member="PxD6Joint::setDrive" ref="85811f1770be8ff4ea79b4e49b313599" args="(PxD6Drive::Enum index, const PxD6JointDrive &drive)=0" -->
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<td class="memname">virtual void PxD6Joint::setDrive </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxD6Drive.html#08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> </td>
<td class="paramname"> <em>index</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classPxD6JointDrive.html">PxD6JointDrive</a> & </td>
<td class="paramname"> <em>drive</em></td><td> </td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [pure virtual]</code></td>
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<p>
Set the drive parameters for the specified 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>index</em> </td><td>the type of drive being specified </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>drive</em> </td><td>the drive parameters</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#bcafdd8e465cac74e3f1b4770e9e1373" title="Get the drive parameters for the specified drive type.">getDrive()</a> <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint">PxD6JointDrive</a></dd></dl>
<b>Default</b> The default drive spring and damping values are zero, the force limit is zero, and no flags are set.
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<a class="anchor" name="22471ee961a299903402b10d786d36c7"></a><!-- doxytag: member="PxD6Joint::setDrivePosition" ref="22471ee961a299903402b10d786d36c7" args="(const PxTransform &pose)=0" -->
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<td class="memname">virtual void PxD6Joint::setDrivePosition </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxTransform.html">PxTransform</a> & </td>
<td class="paramname"> <em>pose</em> </td>
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<p>
Set the drive goal pose.
<p>
The goal is relative to the constraint frame of actor[0]<p>
<b>Default</b> the identity transform<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 goal drive pose if positional drive is in use.</td></tr>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#22471ee961a299903402b10d786d36c7" title="Set the drive goal pose.">setDrivePosition()</a> </dd></dl>
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<a class="anchor" name="f23b422a5ed89350c0f04664ae2351cc"></a><!-- doxytag: member="PxD6Joint::setDriveVelocity" ref="f23b422a5ed89350c0f04664ae2351cc" args="(const PxVec3 &linear, const PxVec3 &angular)=0" -->
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<td class="memname">virtual void PxD6Joint::setDriveVelocity </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> & </td>
<td class="paramname"> <em>linear</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> & </td>
<td class="paramname"> <em>angular</em></td><td> </td>
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<p>
Set the target goal velocity for drive.
<p>
The velocity is measured in the constraint frame of actor[0]<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>linear</em> </td><td>The goal velocity for linear drive </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>angular</em> </td><td>The goal velocity for angular drive</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#caebc6c005a26fbbba5faa65721e9269" title="Get the target goal velocity for joint drive.">getDriveVelocity()</a> </dd></dl>
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<a class="anchor" name="8ceb03a43499c3f85a01ba00eea0c034"></a><!-- doxytag: member="PxD6Joint::setLinearLimit" ref="8ceb03a43499c3f85a01ba00eea0c034" args="(const PxJointLinearLimit &limit)=0" -->
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<td class="memname">virtual void PxD6Joint::setLinearLimit </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> & </td>
<td class="paramname"> <em>limit</em> </td>
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<td><code> [pure virtual]</code></td>
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<p>
Set the linear limit for the joint.
<p>
A single limit constraints all linear limited degrees of freedom, forming a linear, circular or spherical constraint on motion depending on the number of limited degrees.<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>limit</em> </td><td>the linear limit structure</td></tr>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#04d34a3dc0963022996402bd30d7043d" title="Get the linear limit for the joint.">getLinearLimit()</a> </dd></dl>
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<a class="anchor" name="6253223e558ef6c3fd22a4d558dee97d"></a><!-- doxytag: member="PxD6Joint::setMotion" ref="6253223e558ef6c3fd22a4d558dee97d" args="(PxD6Axis::Enum axis, PxD6Motion::Enum type)=0" -->
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<td class="memname">virtual void PxD6Joint::setMotion </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxD6Axis.html#0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> </td>
<td class="paramname"> <em>axis</em>, </td>
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<td class="paramtype"><a class="el" href="structPxD6Motion.html#c93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> </td>
<td class="paramname"> <em>type</em></td><td> </td>
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<td></td><td></td><td><code> [pure virtual]</code></td>
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<p>
Set the motion type around the specified axis.
<p>
Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.<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>axis</em> </td><td>the axis around which motion is specified </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>type</em> </td><td>the motion type around the specified axis</td></tr>
</table>
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<b>Default:</b> all degrees of freedom are locked<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#8bd1ae81eb92e4dbd2c695fd9d8bfba8" title="Get the motion type around the specified axis.">getMotion()</a> <a class="el" href="structPxD6Axis.html" title="Used to specify one of the degrees of freedom of a D6 joint.">PxD6Axis</a> <a class="el" href="structPxD6Motion.html" title="Used to specify the range of motions allowed for a degree of freedom in a D6 joint...">PxD6Motion</a> </dd></dl>
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<a class="anchor" name="ba8db764141f62a0a160a0752e7e65d7"></a><!-- doxytag: member="PxD6Joint::setProjectionAngularTolerance" ref="ba8db764141f62a0a160a0752e7e65d7" args="(PxReal tolerance)=0" -->
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<td class="memname">virtual void PxD6Joint::setProjectionAngularTolerance </td>
<td>(</td>
<td class="paramtype">PxReal </td>
<td class="paramname"> <em>tolerance</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
Set the angular tolerance threshold for projection. Projection is enabled if <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> is set for the joint.
<p>
If the joint deviates by more than this angle around its locked angular degrees of freedom, the solver will move the bodies to close the angle.<p>
Setting a very small tolerance may result in simulation jitter or other artifacts.<p>
Sometimes it is not possible to project (for example when the joints form a cycle).<p>
<b>Range:</b> [0,Pi] <br>
<b>Default:</b> Pi<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>tolerance</em> </td><td>the angular tolerance threshold in radians</td></tr>
</table>
</dl>
<dl class="note" compact><dt><b>Note:</b></dt><dd>Angular projection is implemented only for the case of two or three locked angular degrees of freedom.</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#fe17636945bccdb5ecbfe360b90d9887" title="Get the angular tolerance threshold for projection.">getProjectionAngularTolerance()</a> <a class="el" href="classPxJoint.html#5bbf2a4196e036d711eea9bd5e542ce9" title="set a constraint flags for this joint to a specified value.">PxJoint::setConstraintFlag()</a> <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> </dd></dl>
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<a class="anchor" name="acb253ce8a5aad477afd96f1202d4b61"></a><!-- doxytag: member="PxD6Joint::setProjectionLinearTolerance" ref="acb253ce8a5aad477afd96f1202d4b61" args="(PxReal tolerance)=0" -->
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<td class="memname">virtual void PxD6Joint::setProjectionLinearTolerance </td>
<td>(</td>
<td class="paramtype">PxReal </td>
<td class="paramname"> <em>tolerance</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
Set the linear tolerance threshold for projection. Projection is enabled if <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> is set for the joint.
<p>
If the joint separates by more than this distance along its locked degrees of freedom, the solver will move the bodies to close the distance.<p>
Setting a very small tolerance may result in simulation jitter or other artifacts.<p>
Sometimes it is not possible to project (for example when the joints form a cycle).<p>
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 1e10f<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>tolerance</em> </td><td>the linear tolerance threshold</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#e784aa5547471041bad55269fb03ad0a" title="Get the linear tolerance threshold for projection.">getProjectionLinearTolerance()</a> <a class="el" href="classPxJoint.html#857ea5abc40d94b0e1537b566a9d45bf" title="set the constraint flags for this joint.">PxJoint::setConstraintFlags()</a> <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc34272d3f8e02cd1fa3a41256d186a0a38ebf" title="whether the actors should get projected for this constraint (the direction will be...">PxConstraintFlag::ePROJECTION</a> </dd></dl>
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<a class="anchor" name="72a1f48dffd418d278ec9beb110a9236"></a><!-- doxytag: member="PxD6Joint::setSwingLimit" ref="72a1f48dffd418d278ec9beb110a9236" args="(const PxJointLimitCone &limit)=0" -->
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<td class="memname">virtual void PxD6Joint::setSwingLimit </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> & </td>
<td class="paramname"> <em>limit</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
Set the swing cone limit for the joint.
<p>
The cone limit is used if either or both swing axes are limited. The extents are symmetrical and measured in the frame of the parent. If only one swing degree of freedom is limited, the corresponding value from the cone limit defines the limit range.<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>limit</em> </td><td>the cone limit structure</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd>getLimitCone() <a class="el" href="classPxJointLimitCone.html" title="Describes an elliptical conical joint limit. Note that very small or highly elliptical...">PxJointLimitCone</a> </dd></dl>
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<a class="anchor" name="6461182921ceab095997f58891fb4adc"></a><!-- doxytag: member="PxD6Joint::setTwistLimit" ref="6461182921ceab095997f58891fb4adc" args="(const PxJointAngularLimitPair &limit)=0" -->
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<td class="memname">virtual void PxD6Joint::setTwistLimit </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> & </td>
<td class="paramname"> <em>limit</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
Set the twist limit for the joint.
<p>
The twist limit controls the range of motion around the twist axis.<p>
The limit angle range is (-2*PI, 2*PI) and the extent of the limit must be strictly less than 2*PI<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>limit</em> </td><td>the twist limit structure</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxD6Joint.html#d61577f7428193e59399a4dd4a24e153" title="Get the twist limit for the joint.">getTwistLimit()</a> <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> </dd></dl>
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<hr>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxD6Joint_8h-source.html">PxD6Joint.h</a></ul>
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