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<a href="PxD6Joint_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;<span class="preprocessor">#ifndef PX_D6JOINT_H</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#define PX_D6JOINT_H</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</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="PxJoint_8h.html">extensions/PxJoint.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="PxJointLimit_8h.html">extensions/PxJointLimit.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="PxFlags_8h.html">foundation/PxFlags.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><a class="code" href="classPxD6Joint.html">PxD6Joint</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;<a class="code" href="classPxD6Joint.html">PxD6Joint</a>* <a class="code" href="group__extensions.html#ga5d942bf8c3069024e50a8dd2254c390c">PxD6JointCreate</a>(<a class="code" href="classPxPhysics.html">PxPhysics</a>&amp; physics, <a class="code" href="classPxRigidActor.html">PxRigidActor</a>* actor0, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; localFrame0, <a class="code" href="classPxRigidActor.html">PxRigidActor</a>* actor1, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; localFrame1);</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structPxD6Axis.html"> 65</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxD6Axis.html">PxD6Axis</a></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"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880"> 67</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">Enum</a></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="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880abf4908a96affb5d3f4e3707080129037"> 69</a></span>&#160; eX = 0, </div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880a7144140f700244dba9170ee763384fb0"> 70</a></span>&#160; eY = 1, </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880a851746e413bc3669ac4fa0c2b9e91dee"> 71</a></span>&#160; eZ = 2, </div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880a7854f35a1d4518d556eee64c2cfcec10"> 72</a></span>&#160; eTWIST = 3, </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880ae9f4bbfb50eaf463e7b1dd406ed1957b"> 73</a></span>&#160; eSWING1 = 4, </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880ac6058852beed87da5e9e10f153358f60"> 74</a></span>&#160; eSWING2 = 5, </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880a394081db4388f452aac02d7ff1d8c34a"> 75</a></span>&#160; eCOUNT = 6</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; };</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;};</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structPxD6Motion.html"> 85</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxD6Motion.html">PxD6Motion</a></div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;{</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dc"> 87</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dc">Enum</a></div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; {</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca1677440f096980eb6662b52f7a56ee43"> 89</a></span>&#160; <a class="code" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca1677440f096980eb6662b52f7a56ee43">eLOCKED</a>, </div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca309552869b971c8ac6894140d405db4a"> 90</a></span>&#160; <a class="code" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca309552869b971c8ac6894140d405db4a">eLIMITED</a>, </div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca7be788a2340d8c13c3829c28ce9f1887"> 91</a></span>&#160; eFREE </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; };</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160;};</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structPxD6Drive.html"> 111</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxD6Drive.html">PxD6Drive</a></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;{</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240e"> 113</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240e">Enum</a></div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; {</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240ea95835773297afb7302224724d84c5f22"> 115</a></span>&#160; eX = 0, </div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240eaf26b1c44e8bd4c6b02fcf347596df579"> 116</a></span>&#160; eY = 1, </div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240eaccdb709aed183ca9f24e8862e352b932"> 117</a></span>&#160; eZ = 2, </div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240ea143677ab99bd57647c8e26516bc506a1"> 118</a></span>&#160; eSWING = 3, </div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240eac8a4639b2d4b210c6c7cf1911a51f695"> 119</a></span>&#160; eTWIST = 4, </div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240eaef5c3032b47761d1567a410150ebb9ad"> 120</a></span>&#160; eSLERP = 5, </div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240eacfe841117d042bce0bf625b3e22e80cc"> 121</a></span>&#160; eCOUNT = 6</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; };</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;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structPxD6JointDriveFlag.html"> 130</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxD6JointDriveFlag.html">PxD6JointDriveFlag</a></div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;{</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structPxD6JointDriveFlag.html#a0560fd8c87c7004eb8c52a17a549e42e"> 132</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxD6JointDriveFlag.html#a0560fd8c87c7004eb8c52a17a549e42e">Enum</a></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="structPxD6JointDriveFlag.html#a0560fd8c87c7004eb8c52a17a549e42ea55d5cf212231a628bbee55ef3888e8a8"> 134</a></span>&#160; eACCELERATION = 1 </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"><a class="line" href="group__extensions.html#gadabf6cf5b61c51816897119d793d16b7"> 137</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classPxFlags.html">PxFlags&lt;PxD6JointDriveFlag::Enum, PxU32&gt;</a> <a class="code" href="group__extensions.html#gadabf6cf5b61c51816897119d793d16b7">PxD6JointDriveFlags</a>;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160;PX_FLAGS_OPERATORS(<a class="code" href="structPxD6JointDriveFlag.html#a0560fd8c87c7004eb8c52a17a549e42e">PxD6JointDriveFlag::Enum</a>, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>)</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html"> 145</a></span>&#160;class <a class="code" href="classPxD6JointDrive.html">PxD6JointDrive</a> : public <a class="code" href="classPxSpring.html">PxSpring</a></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160;{</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160;<span class="comment">//= ATTENTION! =====================================================================================</span></div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;<span class="comment">// Changing the data layout of this class breaks the binary serialization format. See comments for </span></div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160;<span class="comment">// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData </span></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160;<span class="comment">// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION</span></div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;<span class="comment">// accordingly.</span></div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;<span class="comment">//==================================================================================================</span></div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html#a419e8a0f6bbf4cafd708e7a8279a5c83"> 155</a></span>&#160; <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxD6JointDrive.html#a419e8a0f6bbf4cafd708e7a8279a5c83">forceLimit</a>; </div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html#afb4c9ee49ac7713aad8aaf33646f336a"> 156</a></span>&#160; <a class="code" href="classPxFlags.html">PxD6JointDriveFlags</a> <a class="code" href="classPxD6JointDrive.html#afb4c9ee49ac7713aad8aaf33646f336a">flags</a>; </div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html#afc858c65b698a54bcdbe8036de4ff82b"> 161</a></span>&#160; <a class="code" href="classPxD6JointDrive.html#afc858c65b698a54bcdbe8036de4ff82b">PxD6JointDrive</a>(): <a class="code" href="classPxSpring.html">PxSpring</a>(0,0), forceLimit(<a class="code" href="group__foundation.html#ga7539e08056ea09ff1c341b866b7103f4">PX_MAX_F32</a>), <a class="code" href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a>(0) {}</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html#a81fd6955014f2472d93db04f6362dcc4"> 171</a></span>&#160; <a class="code" href="classPxD6JointDrive.html#a81fd6955014f2472d93db04f6362dcc4">PxD6JointDrive</a>(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> driveStiffness, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> driveDamping, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> driveForceLimit, <span class="keywordtype">bool</span> isAcceleration = <span class="keyword">false</span>)</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; : <a class="code" href="classPxSpring.html">PxSpring</a>(driveStiffness, driveDamping)</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; , forceLimit(driveForceLimit)</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; , <a class="code" href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a>(isAcceleration?<a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>(<a class="code" href="structPxD6JointDriveFlag.html">PxD6JointDriveFlag</a>::eACCELERATION) : 0) </div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; {}</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classPxD6JointDrive.html#acb465eaaa09ce78a245a857c29b55464"> 180</a></span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classPxD6JointDrive.html#acb465eaaa09ce78a245a857c29b55464">isValid</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160;<span class="keyword"> </span>{</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160; <span class="keywordflow">return</span> <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(<a class="code" href="PxConstraintDesc_8h.html#a9cf8670b7dde57314a7d3cfc5799c277">stiffness</a>) &amp;&amp; <a class="code" href="PxConstraintDesc_8h.html#a9cf8670b7dde57314a7d3cfc5799c277">stiffness</a>&gt;=0 &amp;&amp;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(<a class="code" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>) &amp;&amp; <a class="code" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a> &gt;=0 &amp;&amp;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; <a class="code" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a>(forceLimit) &amp;&amp; forceLimit &gt;=0;</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; }</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;};</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classPxD6Joint.html"> 224</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxD6Joint.html">PxD6Joint</a> : <span class="keyword">public</span> <a class="code" href="classPxJoint.html">PxJoint</a></div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>&#160;{</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMotion(<a class="code" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis, <a class="code" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> type) = 0;</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160; <span class="keyword">virtual</span> <a class="code" href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a> getMotion(<a class="code" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getTwistAngle() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#a9fb2f9edf4bc9edb5e4d7311d930aa8e"> 263</a></span>&#160; <a class="code" href="group__foundation.html#gafd8f8779793627061774cfcfa1b9fbd7">PX_DEPRECATED</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxD6Joint.html#a9fb2f9edf4bc9edb5e4d7311d930aa8e">getTwist</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> getTwistAngle(); }</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSwingYAngle() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSwingZAngle() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>&#160;</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDistanceLimit(<span class="keyword">const</span> <a class="code" href="classPxJointLinearLimit.html">PxJointLinearLimit</a>&amp; limit) = 0;</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>&#160;</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> getDistanceLimit() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>&#160;</div><div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#aa9390d44469f8d131a960f1d4cda6415"> 300</a></span>&#160; <a class="code" href="group__foundation.html#gafd8f8779793627061774cfcfa1b9fbd7">PX_DEPRECATED</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxD6Joint.html#aa9390d44469f8d131a960f1d4cda6415">setLinearLimit</a>(<span class="keyword">const</span> <a class="code" href="classPxJointLinearLimit.html">PxJointLinearLimit</a>&amp; limit) { setDistanceLimit(limit); }</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#a32d91467d415a46bdf1e55291ae4f71a"> 305</a></span>&#160; <a class="code" href="group__foundation.html#gafd8f8779793627061774cfcfa1b9fbd7">PX_DEPRECATED</a> <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxJointLinearLimit.html">PxJointLinearLimit</a> <a class="code" href="classPxD6Joint.html#a32d91467d415a46bdf1e55291ae4f71a">getLinearLimit</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> getDistanceLimit(); }</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>&#160;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setLinearLimit(<a class="code" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis, <span class="keyword">const</span> <a class="code" href="classPxJointLinearLimitPair.html">PxJointLinearLimitPair</a>&amp; limit) = 0;</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>&#160;</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxJointLinearLimitPair.html">PxJointLinearLimitPair</a> getLinearLimit(<a class="code" href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a> axis) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setTwistLimit(<span class="keyword">const</span> <a class="code" href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a>&amp; limit) = 0;</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>&#160; 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<span class="keyword">virtual</span> <span class="keywordtype">void</span> setPyramidSwingLimit(<span class="keyword">const</span> <a class="code" href="classPxJointLimitPyramid.html">PxJointLimitPyramid</a>&amp; limit) = 0;</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span>&#160;</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxJointLimitPyramid.html">PxJointLimitPyramid</a> getPyramidSwingLimit() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDrive(<a class="code" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> index, <span class="keyword">const</span> <a class="code" href="classPxD6JointDrive.html">PxD6JointDrive</a>&amp; drive) = 0;</div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span>&#160;</div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxD6JointDrive.html">PxD6JointDrive</a> getDrive(<a class="code" href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a> index) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span>&#160;</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDrivePosition(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; pose, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span>) = 0;</div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span>&#160;</div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxTransform.html">PxTransform</a> getDrivePosition() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span>&#160;</div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setDriveVelocity(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a>, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span>) = 0;</div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span>&#160;</div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> getDriveVelocity(<a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a>, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a>) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>&#160; </div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setProjectionLinearTolerance(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> tolerance) = 0;</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>&#160; 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<span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classPxD6Joint.html#ae1dc2b02325cf6a7ee41015dd40ccee6">getConcreteTypeName</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;PxD6Joint&quot;</span>; }</div><div class="line"><a name="l00533"></a><span class="lineno"> 533</span>&#160;</div><div class="line"><a name="l00534"></a><span class="lineno"> 534</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00535"></a><span class="lineno"> 535</span>&#160;</div><div class="line"><a name="l00536"></a><span class="lineno"> 536</span>&#160; <span class="comment">//serialization</span></div><div class="line"><a name="l00537"></a><span class="lineno"> 537</span>&#160;</div><div class="line"><a name="l00541"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#aaa40f40276764b205e795befd10d1a50"> 541</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxD6Joint.html#aaa40f40276764b205e795befd10d1a50">PxD6Joint</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="classPxJoint.html">PxJoint</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00542"></a><span class="lineno"> 542</span>&#160;</div><div class="line"><a name="l00546"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#a06fb77acc64f320b039e1aa14129db1c"> 546</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxD6Joint.html#a06fb77acc64f320b039e1aa14129db1c">PxD6Joint</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxJoint.html">PxJoint</a>(baseFlags) {}</div><div class="line"><a name="l00547"></a><span class="lineno"> 547</span>&#160;</div><div class="line"><a name="l00551"></a><span class="lineno"><a class="line" href="classPxD6Joint.html#af964a5d2eac1ce5bede9c1b208513adb"> 551</a></span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxD6Joint.html#af964a5d2eac1ce5bede9c1b208513adb">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;PxD6Joint&quot;</span>, name) || <a class="code" href="classPxJoint.html#a3fbb9ab9cb1ce50be8cd480ce5047e0e">PxJoint::isKindOf</a>(name); }</div><div class="line"><a name="l00552"></a><span class="lineno"> 552</span>&#160;</div><div class="line"><a name="l00553"></a><span class="lineno"> 553</span>&#160; <span class="comment">//~serialization</span></div><div class="line"><a name="l00554"></a><span class="lineno"> 554</span>&#160;};</div><div class="line"><a name="l00555"></a><span class="lineno"> 555</span>&#160;</div><div class="line"><a name="l00556"></a><span class="lineno"> 556</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00557"></a><span class="lineno"> 557</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00558"></a><span class="lineno"> 558</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00559"></a><span class="lineno"> 559</span>&#160;</div><div class="line"><a name="l00561"></a><span class="lineno"> 561</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="classPxD6JointDrive_html_a81fd6955014f2472d93db04f6362dcc4"><div class="ttname"><a href="classPxD6JointDrive.html#a81fd6955014f2472d93db04f6362dcc4">PxD6JointDrive::PxD6JointDrive</a></div><div class="ttdeci">PxD6JointDrive(PxReal driveStiffness, PxReal driveDamping, PxReal driveForceLimit, bool isAcceleration=false)</div><div class="ttdoc">constructor a PxD6JointDrive. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:171</div></div>
<div class="ttc" id="classPxD6Joint_html_af964a5d2eac1ce5bede9c1b208513adb"><div class="ttname"><a href="classPxD6Joint.html#af964a5d2eac1ce5bede9c1b208513adb">PxD6Joint::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> PxD6Joint.h:551</div></div>
<div class="ttc" id="classPxD6Joint_html_aa9390d44469f8d131a960f1d4cda6415"><div class="ttname"><a href="classPxD6Joint.html#aa9390d44469f8d131a960f1d4cda6415">PxD6Joint::setLinearLimit</a></div><div class="ttdeci">PX_DEPRECATED PX_FORCE_INLINE void setLinearLimit(const PxJointLinearLimit &amp;limit)</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:300</div></div>
<div class="ttc" id="structPxD6Motion_html_ac93106f83ed65cc6bf206fb9ba3994dc"><div class="ttname"><a href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dc">PxD6Motion::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:87</div></div>
<div class="ttc" id="group__extensions_html_ga5d942bf8c3069024e50a8dd2254c390c"><div class="ttname"><a href="group__extensions.html#ga5d942bf8c3069024e50a8dd2254c390c">PxD6JointCreate</a></div><div class="ttdeci">PxD6Joint * PxD6JointCreate(PxPhysics &amp;physics, PxRigidActor *actor0, const PxTransform &amp;localFrame0, PxRigidActor *actor1, const PxTransform &amp;localFrame1)</div><div class="ttdoc">Create a D6 joint. </div></div>
<div class="ttc" id="structPxD6JointDriveFlag_html"><div class="ttname"><a href="structPxD6JointDriveFlag.html">PxD6JointDriveFlag</a></div><div class="ttdoc">flags for configuring the drive model of a PxD6Joint </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:130</div></div>
<div class="ttc" id="structPxD6Drive_html_a08b14ae53dcb83687f9f53580121240e"><div class="ttname"><a href="structPxD6Drive.html#a08b14ae53dcb83687f9f53580121240e">PxD6Drive::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:113</div></div>
<div class="ttc" id="classPxD6JointDrive_html"><div class="ttname"><a href="classPxD6JointDrive.html">PxD6JointDrive</a></div><div class="ttdoc">parameters for configuring the drive model of a PxD6Joint </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:145</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</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="structPxD6Motion_html_ac93106f83ed65cc6bf206fb9ba3994dca309552869b971c8ac6894140d405db4a"><div class="ttname"><a href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca309552869b971c8ac6894140d405db4a">PxD6Motion::eLIMITED</a></div><div class="ttdoc">The DOF is limited, it only allows motion within a specific range. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:90</div></div>
<div class="ttc" id="structPxD6Axis_html_a0a15eb4ffcf285b3bd8289ddca128880"><div class="ttname"><a href="structPxD6Axis.html#a0a15eb4ffcf285b3bd8289ddca128880">PxD6Axis::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:67</div></div>
<div class="ttc" id="classPxJointLinearLimit_html"><div class="ttname"><a href="classPxJointLinearLimit.html">PxJointLinearLimit</a></div><div class="ttdoc">Describes a one-sided linear limit. </div><div class="ttdef"><b>Definition:</b> PxJointLimit.h:165</div></div>
<div class="ttc" id="structPxD6Drive_html"><div class="ttname"><a href="structPxD6Drive.html">PxD6Drive</a></div><div class="ttdoc">Used to specify which axes of a D6 joint are driven. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:111</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="classPxRigidActor_html"><div class="ttname"><a href="classPxRigidActor.html">PxRigidActor</a></div><div class="ttdoc">PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SD...</div><div class="ttdef"><b>Definition:</b> PxRigidActor.h:58</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_a9cf8670b7dde57314a7d3cfc5799c277"><div class="ttname"><a href="PxConstraintDesc_8h.html#a9cf8670b7dde57314a7d3cfc5799c277">stiffness</a></div><div class="ttdeci">PxReal stiffness</div><div class="ttdoc">spring parameter, for spring constraints </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:99</div></div>
<div class="ttc" id="classPxD6Joint_html_a32d91467d415a46bdf1e55291ae4f71a"><div class="ttname"><a href="classPxD6Joint.html#a32d91467d415a46bdf1e55291ae4f71a">PxD6Joint::getLinearLimit</a></div><div class="ttdeci">PX_DEPRECATED PX_FORCE_INLINE PxJointLinearLimit getLinearLimit() const</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:305</div></div>
<div class="ttc" id="classPxJoint_html"><div class="ttname"><a href="classPxJoint.html">PxJoint</a></div><div class="ttdoc">a base interface providing common functionality for PhysX joints </div><div class="ttdef"><b>Definition:</b> PxJoint.h:101</div></div>
<div class="ttc" id="group__foundation_html_gafd8f8779793627061774cfcfa1b9fbd7"><div class="ttname"><a href="group__foundation.html#gafd8f8779793627061774cfcfa1b9fbd7">PX_DEPRECATED</a></div><div class="ttdeci">#define PX_DEPRECATED</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:424</div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a9603c86a5d2d0bff969100f99e404753"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a9603c86a5d2d0bff969100f99e404753">angular</a></div><div class="ttdeci">PxVec3 angular</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:134</div></div>
<div class="ttc" id="classPxJointAngularLimitPair_html"><div class="ttname"><a href="classPxJointAngularLimitPair.html">PxJointAngularLimitPair</a></div><div class="ttdef"><b>Definition:</b> PxJointLimit.h:295</div></div>
<div class="ttc" id="classPxD6JointDrive_html_a419e8a0f6bbf4cafd708e7a8279a5c83"><div class="ttname"><a href="classPxD6JointDrive.html#a419e8a0f6bbf4cafd708e7a8279a5c83">PxD6JointDrive::forceLimit</a></div><div class="ttdeci">PxReal forceLimit</div><div class="ttdoc">the force limit of the drive - may be an impulse or a force depending on PxConstraintFlag::eDRIVE_LIM...</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:155</div></div>
<div class="ttc" id="structPxD6Motion_html_ac93106f83ed65cc6bf206fb9ba3994dca1677440f096980eb6662b52f7a56ee43"><div class="ttname"><a href="structPxD6Motion.html#ac93106f83ed65cc6bf206fb9ba3994dca1677440f096980eb6662b52f7a56ee43">PxD6Motion::eLOCKED</a></div><div class="ttdoc">The DOF is locked, it does not allow relative motion. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:89</div></div>
<div class="ttc" id="structPxD6JointDriveFlag_html_a0560fd8c87c7004eb8c52a17a549e42e"><div class="ttname"><a href="structPxD6JointDriveFlag.html#a0560fd8c87c7004eb8c52a17a549e42e">PxD6JointDriveFlag::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:132</div></div>
<div class="ttc" id="classPxJoint_html_a3fbb9ab9cb1ce50be8cd480ce5047e0e"><div class="ttname"><a href="classPxJoint.html#a3fbb9ab9cb1ce50be8cd480ce5047e0e">PxJoint::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> PxJoint.h:376</div></div>
<div class="ttc" id="classPxJointLimitPyramid_html"><div class="ttname"><a href="classPxJointLimitPyramid.html">PxJointLimitPyramid</a></div><div class="ttdoc">Describes a pyramidal joint limit. </div><div class="ttdef"><b>Definition:</b> PxJointLimit.h:448</div></div>
<div class="ttc" id="classPxJointLinearLimitPair_html"><div class="ttname"><a href="classPxJointLinearLimitPair.html">PxJointLinearLimitPair</a></div><div class="ttdoc">Describes a two-sided limit. </div><div class="ttdef"><b>Definition:</b> PxJointLimit.h:228</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_acfdd81caa30ceb0af5fafb4064b1bc67"><div class="ttname"><a href="PxConstraintDesc_8h.html#acfdd81caa30ceb0af5fafb4064b1bc67">flags</a></div><div class="ttdeci">PxU16 flags</div><div class="ttdoc">a set of Px1DConstraintFlags </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:110</div></div>
<div class="ttc" id="classPxSpring_html"><div class="ttname"><a href="classPxSpring.html">PxSpring</a></div><div class="ttdef"><b>Definition:</b> PxJoint.h:381</div></div>
<div class="ttc" id="group__foundation_html_ga7539e08056ea09ff1c341b866b7103f4"><div class="ttname"><a href="group__foundation.html#ga7539e08056ea09ff1c341b866b7103f4">PX_MAX_F32</a></div><div class="ttdeci">#define PX_MAX_F32</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:86</div></div>
<div class="ttc" id="group__extensions_html_gadabf6cf5b61c51816897119d793d16b7"><div class="ttname"><a href="group__extensions.html#gadabf6cf5b61c51816897119d793d16b7">PxD6JointDriveFlags</a></div><div class="ttdeci">PxFlags&lt; PxD6JointDriveFlag::Enum, PxU32 &gt; PxD6JointDriveFlags</div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:137</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="classPxD6JointDrive_html_afb4c9ee49ac7713aad8aaf33646f336a"><div class="ttname"><a href="classPxD6JointDrive.html#afb4c9ee49ac7713aad8aaf33646f336a">PxD6JointDrive::flags</a></div><div class="ttdeci">PxD6JointDriveFlags flags</div><div class="ttdoc">the joint drive flags </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:156</div></div>
<div class="ttc" id="structPxD6Motion_html"><div class="ttname"><a href="structPxD6Motion.html">PxD6Motion</a></div><div class="ttdoc">Used to specify the range of motions allowed for a degree of freedom in a D6 joint. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:85</div></div>
<div class="ttc" id="structPxD6Axis_html"><div class="ttname"><a href="structPxD6Axis.html">PxD6Axis</a></div><div class="ttdoc">Used to specify one of the degrees of freedom of a D6 joint. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:65</div></div>
<div class="ttc" id="classPxD6Joint_html_ae1dc2b02325cf6a7ee41015dd40ccee6"><div class="ttname"><a href="classPxD6Joint.html#ae1dc2b02325cf6a7ee41015dd40ccee6">PxD6Joint::getConcreteTypeName</a></div><div class="ttdeci">virtual const char * getConcreteTypeName() const</div><div class="ttdoc">Returns string name of PxD6Joint, used for serialization. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:532</div></div>
<div class="ttc" id="PxJoint_8h_html"><div class="ttname"><a href="PxJoint_8h.html">PxJoint.h</a></div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a840381307a4813334fba199be4bbcbf3"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a840381307a4813334fba199be4bbcbf3">linear</a></div><div class="ttdeci">PxVec3 linear</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:132</div></div>
<div class="ttc" id="group__foundation_html_gad6de0f4af98c5c5280b8fe695dc87318"><div class="ttname"><a href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxIsFinite(float f)</div><div class="ttdoc">returns true if the passed number is a finite floating point number as opposed to INF...</div><div class="ttdef"><b>Definition:</b> PxMath.h:292</div></div>
<div class="ttc" id="classPxD6Joint_html_a06fb77acc64f320b039e1aa14129db1c"><div class="ttname"><a href="classPxD6Joint.html#a06fb77acc64f320b039e1aa14129db1c">PxD6Joint::PxD6Joint</a></div><div class="ttdeci">PX_INLINE PxD6Joint(PxBaseFlags baseFlags)</div><div class="ttdoc">Deserialization constructor. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:546</div></div>
<div class="ttc" id="classPxJointLimitCone_html"><div class="ttname"><a href="classPxJointLimitCone.html">PxJointLimitCone</a></div><div class="ttdoc">Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones ma...</div><div class="ttdef"><b>Definition:</b> PxJointLimit.h:369</div></div>
<div class="ttc" id="classPxD6Joint_html_aaa40f40276764b205e795befd10d1a50"><div class="ttname"><a href="classPxD6Joint.html#aaa40f40276764b205e795befd10d1a50">PxD6Joint::PxD6Joint</a></div><div class="ttdeci">PX_INLINE PxD6Joint(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:541</div></div>
<div class="ttc" id="classPxD6Joint_html_a9fb2f9edf4bc9edb5e4d7311d930aa8e"><div class="ttname"><a href="classPxD6Joint.html#a9fb2f9edf4bc9edb5e4d7311d930aa8e">PxD6Joint::getTwist</a></div><div class="ttdeci">PX_DEPRECATED PX_FORCE_INLINE PxReal getTwist() const</div><div class="ttdoc">get the twist angle of the joint </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:263</div></div>
<div class="ttc" id="PxJointLimit_8h_html"><div class="ttname"><a href="PxJointLimit_8h.html">PxJointLimit.h</a></div></div>
<div class="ttc" id="PxFlags_8h_html"><div class="ttname"><a href="PxFlags_8h.html">PxFlags.h</a></div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags&lt; PxD6JointDriveFlag::Enum, PxU32 &gt;</a></div></div>
<div class="ttc" id="classPxPhysics_html"><div class="ttname"><a href="classPxPhysics.html">PxPhysics</a></div><div class="ttdoc">Abstract singleton factory class used for instancing objects in the Physics SDK. </div><div class="ttdef"><b>Definition:</b> PxPhysics.h:71</div></div>
<div class="ttc" id="classPxD6JointDrive_html_afc858c65b698a54bcdbe8036de4ff82b"><div class="ttname"><a href="classPxD6JointDrive.html#afc858c65b698a54bcdbe8036de4ff82b">PxD6JointDrive::PxD6JointDrive</a></div><div class="ttdeci">PxD6JointDrive()</div><div class="ttdoc">default constructor for PxD6JointDrive. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:161</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="classPxD6JointDrive_html_acb465eaaa09ce78a245a857c29b55464"><div class="ttname"><a href="classPxD6JointDrive.html#acb465eaaa09ce78a245a857c29b55464">PxD6JointDrive::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdoc">returns true if the drive is valid </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:180</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="classPxD6Joint_html"><div class="ttname"><a href="classPxD6Joint.html">PxD6Joint</a></div><div class="ttdoc">A D6 joint is a general constraint between two actors. </div><div class="ttdef"><b>Definition:</b> PxD6Joint.h:224</div></div>
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