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<html>
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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxRevoluteJoint Class Reference</title>
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<h1>PxRevoluteJoint Class Reference<br>
<small>
[<a class="el" href="group__extensions.html">Extensions</a>]</small>
</h1><!-- doxytag: class="PxRevoluteJoint" --><!-- doxytag: inherits="PxJoint" -->A joint which behaves in a similar way to a hinge or axle.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="PxRevoluteJoint_8h-source.html">PxRevoluteJoint.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for PxRevoluteJoint:</div>
<div class="dynsection">
<p><center><img src="classPxRevoluteJoint__inherit__graph.png" border="0" usemap="#PxRevoluteJoint__inherit__map" alt="Inheritance graph"></center>
<map name="PxRevoluteJoint__inherit__map">
<area shape="rect" href="classPxJoint.html" title="a base interface providing common functionality for PhysX joints" alt="PxJoint" coords="32,85,85,106"><area shape="rect" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection." alt="PxBase" coords="31,16,87,37"></map>
<center><font size="2">[<a target="top" href="graph_legend.html">legend</a>]</font></center></div>
<div class="dynheader">
Collaboration diagram for PxRevoluteJoint:</div>
<div class="dynsection">
<p><center><img src="classPxRevoluteJoint__coll__graph.png" border="0" usemap="#PxRevoluteJoint__coll__map" alt="Collaboration graph"></center>
<map name="PxRevoluteJoint__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="classPxRevoluteJoint-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 PxReal </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxRevoluteJoint.html#7e4c3117eb1b97059d3449abb34717c1">getAngle</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">return the angle of the joint, in the range (-Pi, Pi] <a href="#7e4c3117eb1b97059d3449abb34717c1"></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="classPxRevoluteJoint.html#6a629087f4d1aa356f4fc6927b5c7162">getVelocity</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">return the velocity of the joint <a href="#6a629087f4d1aa356f4fc6927b5c7162"></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="classPxRevoluteJoint.html#d28e13ae7149b0a09f8b5a9d8beaae60">setLimit</a> (const <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> &limits)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set the joint limit parameters. <a href="#d28e13ae7149b0a09f8b5a9d8beaae60"></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="classPxRevoluteJoint.html#11a7d6da9b06c942c67cc8bbfc833bef">getLimit</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get the joint limit parameters. <a href="#11a7d6da9b06c942c67cc8bbfc833bef"></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="classPxRevoluteJoint.html#3b468f55536921dd3f505883df1aa661">setDriveVelocity</a> (PxReal velocity)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set the target velocity for the drive model. <a href="#3b468f55536921dd3f505883df1aa661"></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="classPxRevoluteJoint.html#69f16a45c44381419b802ab2efc4a3c9">getDriveVelocity</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">gets the target velocity for the drive model. <a href="#69f16a45c44381419b802ab2efc4a3c9"></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="classPxRevoluteJoint.html#2c51c5a515957c48e7a82d78947a1b0f">setDriveForceLimit</a> (PxReal limit)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sets the maximum torque the drive can exert. <a href="#2c51c5a515957c48e7a82d78947a1b0f"></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="classPxRevoluteJoint.html#8a6c960014b8e195d8e10dfb31d7c380">getDriveForceLimit</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">gets the maximum torque the drive can exert. <a href="#8a6c960014b8e195d8e10dfb31d7c380"></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="classPxRevoluteJoint.html#b5bd3ea301323d7e8ef6b1db08b8834c">setDriveGearRatio</a> (PxReal ratio)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sets the gear ratio for the drive. <a href="#b5bd3ea301323d7e8ef6b1db08b8834c"></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="classPxRevoluteJoint.html#3961b220301a885c1efd3cd9181b8daf">getDriveGearRatio</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">gets the gear ratio. <a href="#3961b220301a885c1efd3cd9181b8daf"></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="classPxRevoluteJoint.html#10854c64ba8d56db2b7bddc26118393e">setRevoluteJointFlags</a> (<a class="el" href="classPxFlags.html">PxRevoluteJointFlags</a> flags)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sets the flags specific to the Revolute Joint. <a href="#10854c64ba8d56db2b7bddc26118393e"></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="classPxRevoluteJoint.html#794f81a2e8668928669e2d89a15e2558">setRevoluteJointFlag</a> (<a class="el" href="structPxRevoluteJointFlag.html#da2c678da47fe6828e338052480a40c8">PxRevoluteJointFlag::Enum</a> flag, bool value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sets a single flag specific to a Revolute Joint. <a href="#794f81a2e8668928669e2d89a15e2558"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxFlags.html">PxRevoluteJointFlags</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxRevoluteJoint.html#bb21c80c3e6d8c1fc29760aaae8cef15">getRevoluteJointFlags</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">gets the flags specific to the Revolute Joint. <a href="#bb21c80c3e6d8c1fc29760aaae8cef15"></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="classPxRevoluteJoint.html#3f96f9a0b8a5464a25452bb5aea51184">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="#3f96f9a0b8a5464a25452bb5aea51184"></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="classPxRevoluteJoint.html#a49978cf6d7af5629e7d4a84cf959898">getProjectionLinearTolerance</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear tolerance threshold for projection. <a href="#a49978cf6d7af5629e7d4a84cf959898"></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="classPxRevoluteJoint.html#3b088a58542f57366da55fa0fcf56f25">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="#3b088a58542f57366da55fa0fcf56f25"></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="classPxRevoluteJoint.html#fd45c654a94755ad2366c53794ebd30a">getProjectionAngularTolerance</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">gets the angular tolerance threshold for projection. <a href="#fd45c654a94755ad2366c53794ebd30a"></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="classPxRevoluteJoint.html#bfa1e969227e5e8cebccf9d5acb103ca">getConcreteTypeName</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns string name of <a class="el" href="classPxRevoluteJoint.html" title="A joint which behaves in a similar way to a hinge or axle.">PxRevoluteJoint</a>, used for serialization. <a href="#bfa1e969227e5e8cebccf9d5acb103ca"></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="classPxRevoluteJoint.html#298f032a11365475f16d6d2b42c5dc61">PxRevoluteJoint</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="#298f032a11365475f16d6d2b42c5dc61"></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="classPxRevoluteJoint.html#738a0a094358001c58c9c3ea070730a2">PxRevoluteJoint</a> (<a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Deserialization constructor. <a href="#738a0a094358001c58c9c3ea070730a2"></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="classPxRevoluteJoint.html#572ee73d78d99e09f6e7a2eb3dcb15f0">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="#572ee73d78d99e09f6e7a2eb3dcb15f0"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
A joint which behaves in a similar way to a hinge or axle.
<p>
A hinge joint removes all but a single rotational degree of freedom from two objects. The axis along which the two bodies may rotate is specified with a point and a direction vector.<p>
The position of the hinge on each body is specified by the origin of the body's joint frame. The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.<p>
<div align="center">
<img src="revoluteJoint.png" alt="revoluteJoint.png">
</div>
<p>
A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors. It may also be given a limit, to restrict the revolute motion to within a certain range. In addition, the bodies may be projected together if the distance or angle between them exceeds a given threshold.<p>
Projection, drive and limits are activated by setting the appropriate flags on the joint.<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__extensions.html#g4aa56f32cb1cb2245d1c0cde99d0af17" title="Create a revolute joint.">PxRevoluteJointCreate()</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="298f032a11365475f16d6d2b42c5dc61"></a><!-- doxytag: member="PxRevoluteJoint::PxRevoluteJoint" ref="298f032a11365475f16d6d2b42c5dc61" args="(PxType concreteType, PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxRevoluteJoint::PxRevoluteJoint </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>
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<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><code> [inline, protected]</code></td>
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<p>
Constructor.
<p>
</div>
</div><p>
<a class="anchor" name="738a0a094358001c58c9c3ea070730a2"></a><!-- doxytag: member="PxRevoluteJoint::PxRevoluteJoint" ref="738a0a094358001c58c9c3ea070730a2" args="(PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxRevoluteJoint::PxRevoluteJoint </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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<p>
Deserialization constructor.
<p>
</div>
</div><p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="7e4c3117eb1b97059d3449abb34717c1"></a><!-- doxytag: member="PxRevoluteJoint::getAngle" ref="7e4c3117eb1b97059d3449abb34717c1" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getAngle </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
return the angle of the joint, in the range (-Pi, Pi]
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<a class="anchor" name="bfa1e969227e5e8cebccf9d5acb103ca"></a><!-- doxytag: member="PxRevoluteJoint::getConcreteTypeName" ref="bfa1e969227e5e8cebccf9d5acb103ca" args="() const " -->
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<td class="memname">virtual const char* PxRevoluteJoint::getConcreteTypeName </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [inline, virtual]</code></td>
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<p>
Returns string name of <a class="el" href="classPxRevoluteJoint.html" title="A joint which behaves in a similar way to a hinge or axle.">PxRevoluteJoint</a>, used for serialization.
<p>
<p>Implements <a class="el" href="classPxBase.html#67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p>
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<a class="anchor" name="8a6c960014b8e195d8e10dfb31d7c380"></a><!-- doxytag: member="PxRevoluteJoint::getDriveForceLimit" ref="8a6c960014b8e195d8e10dfb31d7c380" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getDriveForceLimit </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
gets the maximum torque the drive can exert.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the torque limit</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#3b468f55536921dd3f505883df1aa661" title="set the target velocity for the drive model.">setDriveVelocity()</a> </dd></dl>
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<a class="anchor" name="3961b220301a885c1efd3cd9181b8daf"></a><!-- doxytag: member="PxRevoluteJoint::getDriveGearRatio" ref="3961b220301a885c1efd3cd9181b8daf" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getDriveGearRatio </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
gets the gear ratio.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the drive gear ratio</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#b5bd3ea301323d7e8ef6b1db08b8834c" title="sets the gear ratio for the drive.">setDriveGearRatio()</a> </dd></dl>
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<a class="anchor" name="69f16a45c44381419b802ab2efc4a3c9"></a><!-- doxytag: member="PxRevoluteJoint::getDriveVelocity" ref="69f16a45c44381419b802ab2efc4a3c9" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getDriveVelocity </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
gets the target velocity for the drive model.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the drive target velocity</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#3b468f55536921dd3f505883df1aa661" title="set the target velocity for the drive model.">setDriveVelocity()</a> </dd></dl>
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<a class="anchor" name="11a7d6da9b06c942c67cc8bbfc833bef"></a><!-- doxytag: member="PxRevoluteJoint::getLimit" ref="11a7d6da9b06c942c67cc8bbfc833bef" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> PxRevoluteJoint::getLimit </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
get the joint limit parameters.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the joint limit parameters</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> <a class="el" href="classPxRevoluteJoint.html#d28e13ae7149b0a09f8b5a9d8beaae60" title="set the joint limit parameters.">setLimit()</a> </dd></dl>
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<a class="anchor" name="fd45c654a94755ad2366c53794ebd30a"></a><!-- doxytag: member="PxRevoluteJoint::getProjectionAngularTolerance" ref="fd45c654a94755ad2366c53794ebd30a" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getProjectionAngularTolerance </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
gets the angular tolerance threshold for projection.
<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the angular tolerance threshold in radians</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#3b088a58542f57366da55fa0fcf56f25" title="Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJ...">setProjectionAngularTolerance()</a> </dd></dl>
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<a class="anchor" name="a49978cf6d7af5629e7d4a84cf959898"></a><!-- doxytag: member="PxRevoluteJoint::getProjectionLinearTolerance" ref="a49978cf6d7af5629e7d4a84cf959898" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::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="classPxRevoluteJoint.html#3f96f9a0b8a5464a25452bb5aea51184" title="Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJE...">setProjectionLinearTolerance()</a> </dd></dl>
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<a class="anchor" name="bb21c80c3e6d8c1fc29760aaae8cef15"></a><!-- doxytag: member="PxRevoluteJoint::getRevoluteJointFlags" ref="bb21c80c3e6d8c1fc29760aaae8cef15" args="(void) const =0" -->
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<td class="memname">virtual <a class="el" href="classPxFlags.html">PxRevoluteJointFlags</a> PxRevoluteJoint::getRevoluteJointFlags </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"> </td>
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<td> const<code> [pure virtual]</code></td>
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<p>
gets the flags specific to the Revolute Joint.
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the joint flags</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd>PxRevoluteJoint::flags, <a class="el" href="structPxRevoluteJointFlag.html" title="Flags specific to the Revolute Joint.">PxRevoluteJointFlag</a> setFlag() setFlags() </dd></dl>
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<a class="anchor" name="6a629087f4d1aa356f4fc6927b5c7162"></a><!-- doxytag: member="PxRevoluteJoint::getVelocity" ref="6a629087f4d1aa356f4fc6927b5c7162" args="() const =0" -->
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<td class="memname">virtual PxReal PxRevoluteJoint::getVelocity </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
return the velocity of the joint
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<a class="anchor" name="572ee73d78d99e09f6e7a2eb3dcb15f0"></a><!-- doxytag: member="PxRevoluteJoint::isKindOf" ref="572ee73d78d99e09f6e7a2eb3dcb15f0" args="(const char *name) const " -->
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<td class="memname">virtual bool PxRevoluteJoint::isKindOf </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"> <em>name</em> </td>
<td> ) </td>
<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="2c51c5a515957c48e7a82d78947a1b0f"></a><!-- doxytag: member="PxRevoluteJoint::setDriveForceLimit" ref="2c51c5a515957c48e7a82d78947a1b0f" args="(PxReal limit)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setDriveForceLimit </td>
<td>(</td>
<td class="paramtype">PxReal </td>
<td class="paramname"> <em>limit</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
sets the maximum torque the drive can exert.
<p>
Setting this to a very large value if velTarget is also very large may cause unexpected results.<p>
The value set here may be used either as an impulse limit or a force limit, depending on the flag <a class="el" href="structPxConstraintFlag.html#86960e99b3e80ddb9e0ab51d7afc3427330ccf346c5056c0570dbc495007d1ce" title="limits for drive strength are forces rather than impulses">PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES</a><p>
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> PX_MAX_F32<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#3b468f55536921dd3f505883df1aa661" title="set the target velocity for the drive model.">setDriveVelocity()</a> </dd></dl>
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<a class="anchor" name="b5bd3ea301323d7e8ef6b1db08b8834c"></a><!-- doxytag: member="PxRevoluteJoint::setDriveGearRatio" ref="b5bd3ea301323d7e8ef6b1db08b8834c" args="(PxReal ratio)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setDriveGearRatio </td>
<td>(</td>
<td class="paramtype">PxReal </td>
<td class="paramname"> <em>ratio</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
sets the gear ratio for the drive.
<p>
When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down. So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio<p>
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 1.0<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>ratio</em> </td><td>the drive gear ratio</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#3961b220301a885c1efd3cd9181b8daf" title="gets the gear ratio.">getDriveGearRatio()</a> </dd></dl>
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<a class="anchor" name="3b468f55536921dd3f505883df1aa661"></a><!-- doxytag: member="PxRevoluteJoint::setDriveVelocity" ref="3b468f55536921dd3f505883df1aa661" args="(PxReal velocity)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setDriveVelocity </td>
<td>(</td>
<td class="paramtype">PxReal </td>
<td class="paramname"> <em>velocity</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
set the target velocity for the drive model.
<p>
The motor will only be able to reach this velocity if the maxForce is sufficiently large. If the joint is spinning faster than this velocity, the motor will actually try to brake (see <a class="el" href="structPxRevoluteJointFlag.html#da2c678da47fe6828e338052480a40c8e4cc26353809ad046c7f6d1be7ac8f8e" title="if the existing velocity is beyond the drive velocity, do not add force">PxRevoluteJointFlag::eDRIVE_FREESPIN</a>.)<p>
If you set this to infinity then the motor will keep speeding up, unless there is some sort of resistance on the attached bodies. The sign of this variable determines the rotation direction, with positive values going the same way as positive joint angles.<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 drive target velocity</td></tr>
</table>
</dl>
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 0.0<p>
<dl class="see" compact><dt><b>See also:</b></dt><dd>PxRevoluteFlags::eDRIVE_FREESPIN </dd></dl>
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<a class="anchor" name="d28e13ae7149b0a09f8b5a9d8beaae60"></a><!-- doxytag: member="PxRevoluteJoint::setLimit" ref="d28e13ae7149b0a09f8b5a9d8beaae60" args="(const PxJointAngularLimitPair &limits)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setLimit </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> & </td>
<td class="paramname"> <em>limits</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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<p>
set the joint limit parameters.
<p>
The limit is activated using the flag <a class="el" href="structPxRevoluteJointFlag.html#da2c678da47fe6828e338052480a40c8a285947133025bc7958602b33c6251c2" title="enable the limit">PxRevoluteJointFlag::eLIMIT_ENABLED</a><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>limits</em> </td><td>The joint limit parameters.</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a> <a class="el" href="classPxRevoluteJoint.html#11a7d6da9b06c942c67cc8bbfc833bef" title="get the joint limit parameters.">getLimit()</a> </dd></dl>
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<a class="anchor" name="3b088a58542f57366da55fa0fcf56f25"></a><!-- doxytag: member="PxRevoluteJoint::setProjectionAngularTolerance" ref="3b088a58542f57366da55fa0fcf56f25" args="(PxReal tolerance)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::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="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxRevoluteJoint.html#fd45c654a94755ad2366c53794ebd30a" title="gets 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="3f96f9a0b8a5464a25452bb5aea51184"></a><!-- doxytag: member="PxRevoluteJoint::setProjectionLinearTolerance" ref="3f96f9a0b8a5464a25452bb5aea51184" args="(PxReal tolerance)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::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="classPxRevoluteJoint.html#a49978cf6d7af5629e7d4a84cf959898" 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="794f81a2e8668928669e2d89a15e2558"></a><!-- doxytag: member="PxRevoluteJoint::setRevoluteJointFlag" ref="794f81a2e8668928669e2d89a15e2558" args="(PxRevoluteJointFlag::Enum flag, bool value)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setRevoluteJointFlag </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxRevoluteJointFlag.html#da2c678da47fe6828e338052480a40c8">PxRevoluteJointFlag::Enum</a> </td>
<td class="paramname"> <em>flag</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"> <em>value</em></td><td> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [pure virtual]</code></td>
</tr>
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<p>
sets a single flag specific to a Revolute Joint.
<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>flag</em> </td><td>The flag to set or clear. </td></tr>
<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>value</em> </td><td>the value to which to set the flag</td></tr>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="structPxRevoluteJointFlag.html" title="Flags specific to the Revolute Joint.">PxRevoluteJointFlag</a>, getFlags() setFlags() </dd></dl>
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<a class="anchor" name="10854c64ba8d56db2b7bddc26118393e"></a><!-- doxytag: member="PxRevoluteJoint::setRevoluteJointFlags" ref="10854c64ba8d56db2b7bddc26118393e" args="(PxRevoluteJointFlags flags)=0" -->
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<td class="memname">virtual void PxRevoluteJoint::setRevoluteJointFlags </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classPxFlags.html">PxRevoluteJointFlags</a> </td>
<td class="paramname"> <em>flags</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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sets the flags specific to the Revolute Joint.
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<b>Default</b> PxRevoluteJointFlags(0)<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>flags</em> </td><td>The joint flags.</td></tr>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="structPxRevoluteJointFlag.html" title="Flags specific to the Revolute Joint.">PxRevoluteJointFlag</a> setFlag() getFlags() </dd></dl>
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<hr>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxRevoluteJoint_8h-source.html">PxRevoluteJoint.h</a></ul>
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