Module de.fabmax.physxjni

Package physx.extensions

Class PxJointLimitParameters

java.lang.Object

physx.NativeObject

physx.extensions.PxJointLimitParameters

Direct Known Subclasses:

PxJointAngularLimitPair, PxJointLimitCone, PxJointLimitPyramid, PxJointLinearLimit, PxJointLinearLimitPair

public class PxJointLimitParameters
extends NativeObject

Describes the parameters for a joint limit.

Limits are enabled or disabled by setting flags or other configuration parameters joints, see the documentation for specific joint types for details.

Nested Class Summary

Nested classes/interfaces inherited from class physx.NativeObject

NativeObject.Allocator<T>

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ALIGNOF
static final int	SIZEOF

Fields inherited from class physx.NativeObject

address, isExternallyAllocated, SIZEOF_BYTE, SIZEOF_DOUBLE, SIZEOF_FLOAT, SIZEOF_INT, SIZEOF_LONG, SIZEOF_POINTER, SIZEOF_SHORT

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PxJointLimitParameters()
protected	PxJointLimitParameters(long address)

Method Summary

Modifier and Type	Method	Description
static PxJointLimitParameters	arrayGet(long baseAddress, int index)
float	getBounceThreshold()	determines the minimum impact velocity which will cause the joint to bounce
float	getDamping()	if spring is greater than zero, this is the damping of the limit spring
float	getRestitution()	Controls the amount of bounce when the joint hits a limit.
float	getStiffness()	if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit
boolean	isSoft()
boolean	isValid()	Returns true if the current settings are valid.
void	setBounceThreshold(float value)	determines the minimum impact velocity which will cause the joint to bounce
void	setDamping(float value)	if spring is greater than zero, this is the damping of the limit spring
void	setRestitution(float value)	Controls the amount of bounce when the joint hits a limit.
void	setStiffness(float value)	if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit
static PxJointLimitParameters	wrapPointer(long address)

Methods inherited from class physx.NativeObject

checkNotNull, equals, getAddress, hashCode

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

SIZEOF

public static final int SIZEOF

ALIGNOF

public static final int ALIGNOF

See Also:

• Constant Field Values

Constructor Details

PxJointLimitParameters

protected PxJointLimitParameters()

PxJointLimitParameters

protected PxJointLimitParameters(long address)

Method Details

wrapPointer

public static PxJointLimitParameters wrapPointer(long address)

arrayGet

public static PxJointLimitParameters arrayGet(long baseAddress,
 int index)

getRestitution

public float getRestitution()

Controls the amount of bounce when the joint hits a limit.

A restitution value of 1.0 causes the joint to bounce back with the velocity which it hit the limit. A value of zero causes the joint to stop dead.

In situations where the joint has many locked DOFs (e.g. 5) the restitution may not be applied correctly. This is due to a limitation in the solver which causes the restitution velocity to become zero as the solver enforces constraints on the other DOFs.

This limitation applies to both angular and linear limits, however it is generally most apparent with limited angular DOFs. Disabling joint projection and increasing the solver iteration count may improve this behavior to some extent.

Also, combining soft joint limits with joint drives driving against those limits may affect stability.

Range: [0,1]
Default: 0.0

setRestitution

public void setRestitution(float value)

Controls the amount of bounce when the joint hits a limit.

A restitution value of 1.0 causes the joint to bounce back with the velocity which it hit the limit. A value of zero causes the joint to stop dead.

In situations where the joint has many locked DOFs (e.g. 5) the restitution may not be applied correctly. This is due to a limitation in the solver which causes the restitution velocity to become zero as the solver enforces constraints on the other DOFs.

This limitation applies to both angular and linear limits, however it is generally most apparent with limited angular DOFs. Disabling joint projection and increasing the solver iteration count may improve this behavior to some extent.

Also, combining soft joint limits with joint drives driving against those limits may affect stability.

Range: [0,1]
Default: 0.0

getBounceThreshold

public float getBounceThreshold()

determines the minimum impact velocity which will cause the joint to bounce

setBounceThreshold

public void setBounceThreshold(float value)

determines the minimum impact velocity which will cause the joint to bounce

getStiffness

public float getStiffness()

if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit

Range: [0, PX_MAX_F32)
Default: 0.0

setStiffness

public void setStiffness(float value)

if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit

Range: [0, PX_MAX_F32)
Default: 0.0

getDamping

public float getDamping()

if spring is greater than zero, this is the damping of the limit spring

Range: [0, PX_MAX_F32)
Default: 0.0

setDamping

public void setDamping(float value)

if spring is greater than zero, this is the damping of the limit spring

Range: [0, PX_MAX_F32)
Default: 0.0

isValid

public boolean isValid()

Returns true if the current settings are valid.

Returns:

true if the current settings are valid

isSoft

public boolean isSoft()

Returns:

WebIDL type: boolean