Module de.fabmax.physxjni

Package physx.extensions

Class PxRackAndPinionJoint

java.lang.Object

physx.NativeObject

physx.common.PxBase

physx.extensions.PxJoint

physx.extensions.PxRackAndPinionJoint

public class PxRackAndPinionJoint
extends PxJoint

A joint that connects an existing revolute joint to an existing prismatic joint, and constrains their relative angular/linear velocity and position with respect to each other.

See Also:

• PxJoint

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	PxRackAndPinionJoint()
protected	PxRackAndPinionJoint(long address)

Method Summary

Modifier and Type	Method	Description
static PxRackAndPinionJoint	arrayGet(long baseAddress, int index)
void	destroy()
float	getRatio()	Get the ratio.
boolean	setData(int nbRackTeeth, int nbPinionTeeth, float rackLength)	Set the desired ratio indirectly.
boolean	setJoints(PxBase hinge, PxBase prismatic)	Set the hinge & prismatic joints connected by the rack & pinion joint.
void	setRatio(float ratio)	Set the desired ratio directly.
static PxRackAndPinionJoint	wrapPointer(long address)

Methods inherited from class physx.extensions.PxJoint

getConstraint, getConstraintFlags, getInvMassScale0, getInvMassScale1, getLocalPose, getName, getRelativeAngularVelocity, getRelativeLinearVelocity, getRelativeTransform, getScene, getUserData, setActors, setBreakForce, setConstraintFlag, setConstraintFlags, setInvMassScale0, setInvMassScale1, setLocalPose, setName, setUserData

Methods inherited from class physx.common.PxBase

getBaseFlags, getConcreteType, getConcreteTypeName, isReleasable, release, setBaseFlag, setBaseFlags

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

PxRackAndPinionJoint

protected PxRackAndPinionJoint()

PxRackAndPinionJoint

protected PxRackAndPinionJoint(long address)

Method Details

wrapPointer

public static PxRackAndPinionJoint wrapPointer(long address)

arrayGet

public static PxRackAndPinionJoint arrayGet(long baseAddress,
 int index)

destroy

public void destroy()

setJoints

public boolean setJoints(PxBase hinge,
 PxBase prismatic)

Set the hinge & prismatic joints connected by the rack & pinion joint.

The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate. The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint.

Note that these joints are only used to compute the positional error correction term, used to adjust potential drift between jointed actors. The rack & pinion joint can run without calling this function, but in that case some visible overlap may develop over time between the teeth of the rack & pinion meshes.

Note: Calling this function resets the internal positional error correction term.

Parameters:

hinge - The hinge joint (pinion)

prismatic - The prismatic joint (rack)

Returns:

true if success

setRatio

public void setRatio(float ratio)

Set the desired ratio directly.

Note: You may need to use a negative gear ratio if the joint frames of involved actors are not oriented in the same direction.

Note: Calling this function resets the internal positional error correction term.

Parameters:

ratio - Desired ratio between the hinge and the prismatic.

getRatio

public float getRatio()

Get the ratio.

Returns:

Current ratio

setData

public boolean setData(int nbRackTeeth,
 int nbPinionTeeth,
 float rackLength)

Set the desired ratio indirectly.

This is a simple helper function that computes the ratio from passed data:

ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)

Note: Calling this function resets the internal positional error correction term.

Parameters:

nbRackTeeth - Number of teeth on the rack (cannot be zero)

nbPinionTeeth - Number of teeth on the pinion (cannot be zero)

rackLength - Length of the rack

Returns:

true if success