Help with dynamic Body

Gaming and Visualization Technologies APIs Physics Modeling (closed)
1

Hello guys,

i just run into a problem. i have a dynamic body which represent a moveable plane. this works for now. i´ve disabled the gravity to this body because it should stay in its position.
for now i will only rotate the body around the x- and z-axis but it should stop rotating if it reached an angle. how can i do this ? right now i give this box an velocity setAngularVelocity(PxVec3(0.0f, 0.0f, -5.f*dt)).

Best Regards

2

Hi there,

Well, if the setAngularVelocity way of doing it works for you, why don’t you just set back the angular velocity to 0 once you reached the orientation that you need ?

If I had to do it myself, I would probably set a constraint between the plane and the world, and work either with angular limits or joint drive on the constraints, you should check the documentation about it.

Yann

3

Hello grandYann,

thanks for the response. i will look into it. do you have a quick example how to set angular limits?

Best Regards

4

Sure, here’s our way of doing it on a PxD6Joint:

joint->setMotion(PxD6Axis::eX, PxD6Motion::eLOCKED);
joint->setMotion(PxD6Axis::eY, PxD6Motion::eLOCKED);
joint->setMotion(PxD6Axis::eZ, PxD6Motion::eLOCKED);

joint->setProjectionLinearTolerance(0.1f * getPhysXPhysics().getTolerancesScale().length);
joint->setProjectionAngularTolerance(0.1f);
joint->setConstraintFlag(PxConstraintFlag::ePROJECTION, true);
//disable contacts between the 2 rigids constrained by this limit
joint->setConstraintFlag(PxConstraintFlag::eCOLLISION_ENABLED, false);

//set flag to show joint in debug visu
joint->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);

//spring or contact disk
if(_useSpringJointLimits)
{
	PxSpring spring(_jointLimitsStiffness, _jointLimitsDamping);
	joint->setTwistLimit(PxJointAngularLimitPair(-angularLimits.x, angularLimits.x, spring));
	joint->setSwingLimit(PxJointLimitCone(angularLimits.y, angularLimits.z, spring));
}
else
{
	joint->setTwistLimit(PxJointAngularLimitPair(-angularLimits.x, angularLimits.x));
	joint->setSwingLimit(PxJointLimitCone(angularLimits.y, angularLimits.z));
}