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<a href="PxArticulationJoint_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_NX_ARTICULATION_JOINT</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxBase_8h.html">common/PxBase.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxSolverDefs_8h.html">solver/PxSolverDefs.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="keyword">class </span>PxArticulationJointImpl;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structPxArticulationJointDriveType.html"> 60</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxArticulationJointDriveType.html">PxArticulationJointDriveType</a></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;{</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2"> 62</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">Enum</a></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; {</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2a6efbffee5445ed12550a3cb4f1e1cd9e"> 64</a></span>&#160; eTARGET = 0, <span class="comment">// use the quaternion as the drive target</span></div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2a178e00c7f3fa1771a6d607235ebb3372"> 65</a></span>&#160; eERROR = 1 <span class="comment">// use the vector part of the quaternion as the drive error.</span></div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; };</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;};</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classPxArticulationJointBase.html"> 69</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxArticulationJointBase.html">PxArticulationJointBase</a> : <span class="keyword">public</span> <a class="code" href="classPxBase.html">PxBase</a></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160;{</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationLink.html">PxArticulationLink</a>&amp; getParentArticulationLink() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setParentPose(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; pose) = 0;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxTransform.html">PxTransform</a> getParentPose() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationLink.html">PxArticulationLink</a>&amp; getChildArticulationLink() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setChildPose(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; pose) = 0;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxTransform.html">PxTransform</a> getChildPose() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160; <span class="keyword">virtual</span> PxArticulationJointImpl* getImpl() = 0;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; <span class="keyword">virtual</span> <span class="keyword">const</span> PxArticulationJointImpl* getImpl() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classPxArticulationJointBase.html#afefce115db74c3bcfbc3f3052e18f14d"> 127</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationJointBase.html#afefce115db74c3bcfbc3f3052e18f14d">~PxArticulationJointBase</a>() {}</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classPxArticulationJointBase.html#aac7d969924423782bca5c78f9b10ca04"> 131</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationJointBase.html#aac7d969924423782bca5c78f9b10ca04">PxArticulationJointBase</a>(<a class="code" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxBase.html">PxBase</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classPxArticulationJointBase.html#ac393f6100547e633015e60a0113d7dbf"> 132</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationJointBase.html#ac393f6100547e633015e60a0113d7dbf">PxArticulationJointBase</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxBase.html">PxBase</a>(baseFlags) {}</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; </div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d"> 134</a></span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">&quot;PxArticulationJointBase&quot;</span>, name) || <a class="code" href="classPxBase.html#addfc067afca2f67bda6c497b14424962">PxBase::isKindOf</a>(name); }</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160;};</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html"> 148</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxArticulationJoint.html">PxArticulationJoint</a> : <span class="keyword">public</span> <a class="code" href="classPxArticulationJointBase.html">PxArticulationJointBase</a></div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160;{</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTargetOrientation(<span class="keyword">const</span> <a class="code" href="classPxQuat.html">PxQuat</a>&amp; orientation) = 0;</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxQuat.html">PxQuat</a> getTargetOrientation() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTargetVelocity(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; velocity) = 0;</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxVec3.html">PxVec3</a> getTargetVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDriveType(<a class="code" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> driveType) = 0;</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160; <span class="keyword">virtual</span> <a class="code" href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a> getDriveType() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setStiffness(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxConstraintDesc_8h.html#ab545718d2685b45ef4df86c181ca0baa">spring</a>) = 0;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getStiffness() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDamping(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>) = 0;</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getDamping() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setInternalCompliance(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> compliance) = 0;</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>&#160;</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getInternalCompliance() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>&#160;</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setExternalCompliance(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> compliance) = 0;</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getExternalCompliance() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSwingLimit(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> zLimit, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> yLimit) = 0;</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>&#160;</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getSwingLimit(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>&amp; zLimit, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>&amp; yLimit) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>&#160;</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTangentialStiffness(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxConstraintDesc_8h.html#ab545718d2685b45ef4df86c181ca0baa">spring</a>) = 0;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>&#160;</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getTangentialStiffness() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>&#160;</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTangentialDamping(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>) = 0;</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>&#160;</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getTangentialDamping() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>&#160;</div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSwingLimitContactDistance(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> contactDistance) = 0;</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>&#160;</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSwingLimitContactDistance() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span>&#160;</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSwingLimitEnabled(<span class="keywordtype">bool</span> enabled) = 0;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getSwingLimitEnabled() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>&#160;</div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTwistLimit(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lower, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> upper) = 0;</div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getTwistLimit(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> &amp;lower, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> &amp;upper) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span>&#160;</div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTwistLimitEnabled(<span class="keywordtype">bool</span> enabled) = 0;</div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>&#160;</div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getTwistLimitEnabled() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span>&#160;</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTwistLimitContactDistance(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> contactDistance) = 0;</div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span>&#160;</div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getTwistLimitContactDistance() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>&#160;</div><div class="line"><a name="l00481"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html#a8516e8495e829c17c190bf1a013d6f7a"> 481</a></span>&#160; <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classPxArticulationJoint.html#a8516e8495e829c17c190bf1a013d6f7a">getConcreteTypeName</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;PxArticulationJoint&quot;</span>; }</div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span>&#160;</div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html#a8ecb6fb89ec7e18314cfc9c6b255bd41"> 484</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationJoint.html#a8ecb6fb89ec7e18314cfc9c6b255bd41">PxArticulationJoint</a>(<a class="code" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxArticulationJointBase.html">PxArticulationJointBase</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00485"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html#a830694ba6d6b8bbe5dfdc71f446bac54"> 485</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxArticulationJoint.html#a830694ba6d6b8bbe5dfdc71f446bac54">PxArticulationJoint</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxArticulationJointBase.html">PxArticulationJointBase</a>(baseFlags) {}</div><div class="line"><a name="l00486"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html#a2a73babb0e7aa037d07132980281f302"> 486</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxArticulationJoint.html#a2a73babb0e7aa037d07132980281f302">~PxArticulationJoint</a>() {}</div><div class="line"><a name="l00487"></a><span class="lineno"><a class="line" href="classPxArticulationJoint.html#a9c6e996a3fbd7abf27ab8e3cabe65d38"> 487</a></span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxArticulationJoint.html#a9c6e996a3fbd7abf27ab8e3cabe65d38">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">&quot;PxArticulationJoint&quot;</span>, name) || <a class="code" href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d">PxArticulationJointBase::isKindOf</a>(name); }</div><div class="line"><a name="l00488"></a><span class="lineno"> 488</span>&#160;};</div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span>&#160;</div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00491"></a><span class="lineno"> 491</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxArticulationJoint_html_a9c6e996a3fbd7abf27ab8e3cabe65d38"><div class="ttname"><a href="classPxArticulationJoint.html#a9c6e996a3fbd7abf27ab8e3cabe65d38">PxArticulationJoint::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:487</div></div>
<div class="ttc" id="classPxArticulationJoint_html_a2a73babb0e7aa037d07132980281f302"><div class="ttname"><a href="classPxArticulationJoint.html#a2a73babb0e7aa037d07132980281f302">PxArticulationJoint::~PxArticulationJoint</a></div><div class="ttdeci">virtual ~PxArticulationJoint()</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:486</div></div>
<div class="ttc" id="classPxArticulationJoint_html"><div class="ttname"><a href="classPxArticulationJoint.html">PxArticulationJoint</a></div><div class="ttdoc">a joint between two links in an articulation. </div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:148</div></div>
<div class="ttc" id="classPxQuat_html"><div class="ttname"><a href="classPxQuat.html">PxQuat</a></div><div class="ttdoc">This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour...</div><div class="ttdef"><b>Definition:</b> PxQuat.h:49</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_ab545718d2685b45ef4df86c181ca0baa"><div class="ttname"><a href="PxConstraintDesc_8h.html#ab545718d2685b45ef4df86c181ca0baa">spring</a></div><div class="ttdeci">struct @6::SpringModifiers spring</div></div>
<div class="ttc" id="classPxBase_html_addfc067afca2f67bda6c497b14424962"><div class="ttname"><a href="classPxBase.html#addfc067afca2f67bda6c497b14424962">PxBase::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *superClass) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxBase.h:178</div></div>
<div class="ttc" id="structPxArticulationJointDriveType_html"><div class="ttname"><a href="structPxArticulationJointDriveType.html">PxArticulationJointDriveType</a></div><div class="ttdoc">The type of joint drive to use for the articulation joint. </div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:60</div></div>
<div class="ttc" id="PxBase_8h_html"><div class="ttname"><a href="PxBase_8h.html">PxBase.h</a></div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="group__common_html_gac1fb4b256a5d900d394e89db170a2b79"><div class="ttname"><a href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a></div><div class="ttdeci">PxU16 PxType</div><div class="ttdef"><b>Definition:</b> PxBase.h:49</div></div>
<div class="ttc" id="classPxArticulationJointBase_html_ae0437f39b24665d7f8c49d258eea8d0d"><div class="ttname"><a href="classPxArticulationJointBase.html#ae0437f39b24665d7f8c49d258eea8d0d">PxArticulationJointBase::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:134</div></div>
<div class="ttc" id="classPxArticulationJoint_html_a8516e8495e829c17c190bf1a013d6f7a"><div class="ttname"><a href="classPxArticulationJoint.html#a8516e8495e829c17c190bf1a013d6f7a">PxArticulationJoint::getConcreteTypeName</a></div><div class="ttdeci">virtual const char * getConcreteTypeName() const</div><div class="ttdoc">Returns string name of dynamic type. </div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:481</div></div>
<div class="ttc" id="classPxArticulationLink_html"><div class="ttname"><a href="classPxArticulationLink.html">PxArticulationLink</a></div><div class="ttdoc">a component of an articulation that represents a rigid body </div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:57</div></div>
<div class="ttc" id="structPxArticulationJointDriveType_html_ac6be2c7afe87dd7755dae4aa7a0fdfe2"><div class="ttname"><a href="structPxArticulationJointDriveType.html#ac6be2c7afe87dd7755dae4aa7a0fdfe2">PxArticulationJointDriveType::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:62</div></div>
<div class="ttc" id="classPxArticulationJointBase_html"><div class="ttname"><a href="classPxArticulationJointBase.html">PxArticulationJointBase</a></div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:69</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_adc081240b94af5fc9f010e0583263581"><div class="ttname"><a href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a></div><div class="ttdeci">PxReal damping</div><div class="ttdoc">damping parameter, for spring constraints </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:100</div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxArticulationJointBase_html_ac393f6100547e633015e60a0113d7dbf"><div class="ttname"><a href="classPxArticulationJointBase.html#ac393f6100547e633015e60a0113d7dbf">PxArticulationJointBase::PxArticulationJointBase</a></div><div class="ttdeci">PX_INLINE PxArticulationJointBase(PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:132</div></div>
<div class="ttc" id="classPxArticulationJoint_html_a8ecb6fb89ec7e18314cfc9c6b255bd41"><div class="ttname"><a href="classPxArticulationJoint.html#a8ecb6fb89ec7e18314cfc9c6b255bd41">PxArticulationJoint::PxArticulationJoint</a></div><div class="ttdeci">PX_INLINE PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:484</div></div>
<div class="ttc" id="PxSolverDefs_8h_html"><div class="ttname"><a href="PxSolverDefs_8h.html">PxSolverDefs.h</a></div></div>
<div class="ttc" id="classPxArticulationJointBase_html_afefce115db74c3bcfbc3f3052e18f14d"><div class="ttname"><a href="classPxArticulationJointBase.html#afefce115db74c3bcfbc3f3052e18f14d">PxArticulationJointBase::~PxArticulationJointBase</a></div><div class="ttdeci">virtual ~PxArticulationJointBase()</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:127</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags&lt; PxBaseFlag::Enum, PxU16 &gt;</a></div></div>
<div class="ttc" id="classPxArticulationJointBase_html_aac7d969924423782bca5c78f9b10ca04"><div class="ttname"><a href="classPxArticulationJointBase.html#aac7d969924423782bca5c78f9b10ca04">PxArticulationJointBase::PxArticulationJointBase</a></div><div class="ttdeci">PX_INLINE PxArticulationJointBase(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:131</div></div>
<div class="ttc" id="classPxBase_html"><div class="ttname"><a href="classPxBase.html">PxBase</a></div><div class="ttdoc">Base class for objects that can be members of a PxCollection. </div><div class="ttdef"><b>Definition:</b> PxBase.h:73</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="classPxArticulationJoint_html_a830694ba6d6b8bbe5dfdc71f446bac54"><div class="ttname"><a href="classPxArticulationJoint.html#a830694ba6d6b8bbe5dfdc71f446bac54">PxArticulationJoint::PxArticulationJoint</a></div><div class="ttdeci">PX_INLINE PxArticulationJoint(PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:485</div></div>
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