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<html>
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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxSphericalJoint Class Reference</title>
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<h1>PxSphericalJoint Class Reference<br>
<small>
[<a class="el" href="group__extensions.html">Extensions</a>]</small>
</h1><!-- doxytag: class="PxSphericalJoint" --><!-- doxytag: inherits="PxJoint" -->A joint which behaves in a similar way to a ball and socket.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="PxSphericalJoint_8h-source.html">PxSphericalJoint.h</a>></code>
<p>
<div class="dynheader">
Inheritance diagram for PxSphericalJoint:</div>
<div class="dynsection">
<p><center><img src="classPxSphericalJoint__inherit__graph.png" border="0" usemap="#PxSphericalJoint__inherit__map" alt="Inheritance graph"></center>
<map name="PxSphericalJoint__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 PxSphericalJoint:</div>
<div class="dynsection">
<p><center><img src="classPxSphericalJoint__coll__graph.png" border="0" usemap="#PxSphericalJoint__coll__map" alt="Collaboration graph"></center>
<map name="PxSphericalJoint__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="classPxSphericalJoint-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 <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxSphericalJoint.html#5c48934f9981180ef691c7914efa9c05">getLimitCone</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the limit cone. <a href="#5c48934f9981180ef691c7914efa9c05"></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="classPxSphericalJoint.html#7ca415d2d986e63c5d5fa86dde583e6c">setLimitCone</a> (const <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> &limit)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the limit cone. <a href="#7ca415d2d986e63c5d5fa86dde583e6c"></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="classPxSphericalJoint.html#3f3dd6934d09d6bc1605e53c15e45ab7">setSphericalJointFlags</a> (<a class="el" href="classPxFlags.html">PxSphericalJointFlags</a> flags)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the flags specific to the Spherical Joint. <a href="#3f3dd6934d09d6bc1605e53c15e45ab7"></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="classPxSphericalJoint.html#0cff21b619ff48b2ca974df7f0e38ebb">setSphericalJointFlag</a> (<a class="el" href="structPxSphericalJointFlag.html#fc657f6cb078dd077c835e798ac56561">PxSphericalJointFlag::Enum</a> flag, bool value)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set a single flag specific to a Spherical Joint to true or false. <a href="#0cff21b619ff48b2ca974df7f0e38ebb"></a><br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classPxFlags.html">PxSphericalJointFlags</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPxSphericalJoint.html#97ce52284221d6429ef49db02a2487b5">getSphericalJointFlags</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the flags specific to the Spherical Joint. <a href="#97ce52284221d6429ef49db02a2487b5"></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="classPxSphericalJoint.html#73173f0db2281377b91fe3b58b22001d">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="#73173f0db2281377b91fe3b58b22001d"></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="classPxSphericalJoint.html#4cfc3fbb4621799cbf5449270c120d1e">getProjectionLinearTolerance</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the linear tolerance threshold for projection. <a href="#4cfc3fbb4621799cbf5449270c120d1e"></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="classPxSphericalJoint.html#33bc9866342c10b633dffff5536d17ee">getConcreteTypeName</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns string name of <a class="el" href="classPxSphericalJoint.html" title="A joint which behaves in a similar way to a ball and socket.">PxSphericalJoint</a>, used for serialization. <a href="#33bc9866342c10b633dffff5536d17ee"></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="classPxSphericalJoint.html#b06e4205a73a38b86f803b33596ff2b0">PxSphericalJoint</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="#b06e4205a73a38b86f803b33596ff2b0"></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="classPxSphericalJoint.html#c286965aa17ee29f33dfc66723f30116">PxSphericalJoint</a> (<a class="el" href="classPxFlags.html">PxBaseFlags</a> baseFlags)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Deserialization constructor. <a href="#c286965aa17ee29f33dfc66723f30116"></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="classPxSphericalJoint.html#2fa42a5334d0b2395dec6b2be0909dd3">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="#2fa42a5334d0b2395dec6b2be0909dd3"></a><br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
A joint which behaves in a similar way to a ball and socket.
<p>
A spherical joint removes all linear degrees of freedom from two objects.<p>
The position of the joint on each actor is specified by the origin of the body's joint frame.<p>
A spherical joint may have a cone limit, to restrict the motion to within a certain range. In addition, the bodies may be projected together if the distance 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="b06e4205a73a38b86f803b33596ff2b0"></a><!-- doxytag: member="PxSphericalJoint::PxSphericalJoint" ref="b06e4205a73a38b86f803b33596ff2b0" args="(PxType concreteType, PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxSphericalJoint::PxSphericalJoint </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>
Constructor.
<p>
</div>
</div><p>
<a class="anchor" name="c286965aa17ee29f33dfc66723f30116"></a><!-- doxytag: member="PxSphericalJoint::PxSphericalJoint" ref="c286965aa17ee29f33dfc66723f30116" args="(PxBaseFlags baseFlags)" -->
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<td class="memname">PX_INLINE PxSphericalJoint::PxSphericalJoint </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>
Deserialization constructor.
<p>
</div>
</div><p>
<hr><h2>Member Function Documentation</h2>
<a class="anchor" name="33bc9866342c10b633dffff5536d17ee"></a><!-- doxytag: member="PxSphericalJoint::getConcreteTypeName" ref="33bc9866342c10b633dffff5536d17ee" args="() const " -->
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<td class="memname">virtual const char* PxSphericalJoint::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 <a class="el" href="classPxSphericalJoint.html" title="A joint which behaves in a similar way to a ball and socket.">PxSphericalJoint</a>, used for serialization.
<p>
<p>Implements <a class="el" href="classPxBase.html#67fe206d8897ddce896c371ac8d789a9">PxBase</a>.</p>
</div>
</div><p>
<a class="anchor" name="5c48934f9981180ef691c7914efa9c05"></a><!-- doxytag: member="PxSphericalJoint::getLimitCone" ref="5c48934f9981180ef691c7914efa9c05" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classPxJointLimitCone.html">PxJointLimitCone</a> PxSphericalJoint::getLimitCone </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
</tr>
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<div class="memdoc">
<p>
Set the limit cone.
<p>
If enabled, the limit cone will constrain the angular movement of the joint to lie within an elliptical cone.<p>
<dl class="return" compact><dt><b>Returns:</b></dt><dd>the limit cone</dd></dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxJointLimitCone.html" title="Describes an elliptical conical joint limit. Note that very small or highly elliptical...">PxJointLimitCone</a> setLimit() </dd></dl>
</div>
</div><p>
<a class="anchor" name="4cfc3fbb4621799cbf5449270c120d1e"></a><!-- doxytag: member="PxSphericalJoint::getProjectionLinearTolerance" ref="4cfc3fbb4621799cbf5449270c120d1e" args="() const =0" -->
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<td class="memname">virtual PxReal PxSphericalJoint::getProjectionLinearTolerance </td>
<td>(</td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<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="classPxSphericalJoint.html#73173f0db2281377b91fe3b58b22001d" title="Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJE...">setProjectionLinearTolerance()</a> </dd></dl>
</div>
</div><p>
<a class="anchor" name="97ce52284221d6429ef49db02a2487b5"></a><!-- doxytag: member="PxSphericalJoint::getSphericalJointFlags" ref="97ce52284221d6429ef49db02a2487b5" args="(void) const =0" -->
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<td class="memname">virtual <a class="el" href="classPxFlags.html">PxSphericalJointFlags</a> PxSphericalJoint::getSphericalJointFlags </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"> </td>
<td> ) </td>
<td> const<code> [pure virtual]</code></td>
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<p>
Get the flags specific to the Spherical Joint.
<p>
<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>PxSphericalJoint::flags, <a class="el" href="structPxSphericalJointFlag.html" title="Flags specific to the spherical joint.">PxSphericalJointFlag</a> setFlag() setFlags() </dd></dl>
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</div><p>
<a class="anchor" name="2fa42a5334d0b2395dec6b2be0909dd3"></a><!-- doxytag: member="PxSphericalJoint::isKindOf" ref="2fa42a5334d0b2395dec6b2be0909dd3" args="(const char *name) const " -->
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<td class="memname">virtual bool PxSphericalJoint::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.
<p>
<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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</div><p>
<a class="anchor" name="7ca415d2d986e63c5d5fa86dde583e6c"></a><!-- doxytag: member="PxSphericalJoint::setLimitCone" ref="7ca415d2d986e63c5d5fa86dde583e6c" args="(const PxJointLimitCone &limit)=0" -->
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<td class="memname">virtual void PxSphericalJoint::setLimitCone </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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<div class="memdoc">
<p>
Get the limit cone.
<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 limit cone</td></tr>
</table>
</dl>
<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxJointLimitCone.html" title="Describes an elliptical conical joint limit. Note that very small or highly elliptical...">PxJointLimitCone</a> getLimit() </dd></dl>
</div>
</div><p>
<a class="anchor" name="73173f0db2281377b91fe3b58b22001d"></a><!-- doxytag: member="PxSphericalJoint::setProjectionLinearTolerance" ref="73173f0db2281377b91fe3b58b22001d" args="(PxReal tolerance)=0" -->
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<td class="memname">virtual void PxSphericalJoint::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>
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<tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>tolerance</em> </td><td>the linear tolerance threshold</td></tr>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="classPxSphericalJoint.html#4cfc3fbb4621799cbf5449270c120d1e" 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="0cff21b619ff48b2ca974df7f0e38ebb"></a><!-- doxytag: member="PxSphericalJoint::setSphericalJointFlag" ref="0cff21b619ff48b2ca974df7f0e38ebb" args="(PxSphericalJointFlag::Enum flag, bool value)=0" -->
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<td class="memname">virtual void PxSphericalJoint::setSphericalJointFlag </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structPxSphericalJointFlag.html#fc657f6cb078dd077c835e798ac56561">PxSphericalJointFlag::Enum</a> </td>
<td class="paramname"> <em>flag</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"> <em>value</em></td><td> </td>
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<td>)</td>
<td></td><td></td><td><code> [pure virtual]</code></td>
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Set a single flag specific to a Spherical Joint to true or false.
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<dl compact><dt><b>Parameters:</b></dt><dd>
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<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="structPxSphericalJointFlag.html" title="Flags specific to the spherical joint.">PxSphericalJointFlag</a>, getFlags() setFlags() </dd></dl>
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<a class="anchor" name="3f3dd6934d09d6bc1605e53c15e45ab7"></a><!-- doxytag: member="PxSphericalJoint::setSphericalJointFlags" ref="3f3dd6934d09d6bc1605e53c15e45ab7" args="(PxSphericalJointFlags flags)=0" -->
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<td class="memname">virtual void PxSphericalJoint::setSphericalJointFlags </td>
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<td class="paramtype"><a class="el" href="classPxFlags.html">PxSphericalJointFlags</a> </td>
<td class="paramname"> <em>flags</em> </td>
<td> ) </td>
<td><code> [pure virtual]</code></td>
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Set the flags specific to the Spherical Joint.
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<b>Default</b> PxSphericalJointFlags(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="structPxSphericalJointFlag.html" title="Flags specific to the spherical joint.">PxSphericalJointFlag</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="PxSphericalJoint_8h-source.html">PxSphericalJoint.h</a></ul>
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