Revision control
Copy as Markdown
// Copyright (C) 2026 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
#include "qrevolutejoint_p.h"
#include "physxnode/qphysxactorbody_p.h"
#include "qabstractphysicsnode_p.h"
#include "qstaticphysxobjects_p.h"
#include <extensions/PxRevoluteJoint.h>
QT_BEGIN_NAMESPACE
/*!
\qmltype RevoluteJoint
\inqmlmodule QtQuick3D.Physics
\since 6.12
\inherits FlexibleJoint
\brief A revolute joint.
A revolute joint, commonly referred to as a a hinge keeps the origins and x-axes
of the frames together, and allows free rotation around this common axis.
\sa {DistanceJoint}
\sa {FixedJoint}
\sa {PrismaticJoint}
\sa {SphericalJoint}
\sa {D6Joint}
*/
/*!
\qmlproperty real RevoluteJoint::angularLimitLower
\since 6.12
\default -pi/2
The lower angular limit (in radians) of the joint constraint.
Range: \c{[-2*pi, 2*pi]}
\sa angularLimitUpper
*/
/*!
\qmlproperty real RevoluteJoint::angularLimitUpper
\since 6.12
\default pi/2
The Upper angular limit (in radians) of the joint constraint.
Range: \c{[-2*pi, 2*pi]}
\sa angularLimitLower
*/
/*!
\qmlproperty bool RevoluteJoint::enableAngularLimit
\since 6.12
\default false
Enable the angular limit constraint for the joint.
*/
float QRevoluteJoint::angularLimitLower() const
{
return m_angularLimitLower;
}
void QRevoluteJoint::setAngularLimitLower(float newAngularLimitLower)
{
newAngularLimitLower = qBound(-2.0f * physx::PxPi, newAngularLimitLower, 2.0f * physx::PxPi);
if (qFuzzyCompare(m_angularLimitLower, newAngularLimitLower))
return;
m_angularLimitLower = newAngularLimitLower;
m_dirtyProperties = true;
emit angularLimitLowerChanged();
}
float QRevoluteJoint::angularLimitUpper() const
{
return m_angularLimitUpper;
}
void QRevoluteJoint::setAngularLimitUpper(float newAngularLimitUpper)
{
newAngularLimitUpper = qBound(-2.0f * physx::PxPi, newAngularLimitUpper, 2.0f * physx::PxPi);
if (qFuzzyCompare(m_angularLimitUpper, newAngularLimitUpper))
return;
m_angularLimitUpper = newAngularLimitUpper;
m_dirtyProperties = true;
emit angularLimitUpperChanged();
}
bool QRevoluteJoint::enableAngularLimit() const
{
return m_enableAngularLimit;
}
void QRevoluteJoint::setEnableAngularLimit(bool newEnableAngularLimit)
{
if (m_enableAngularLimit == newEnableAngularLimit)
return;
m_enableAngularLimit = newEnableAngularLimit;
m_dirtyProperties = true;
emit enableAngularLimitChanged();
}
physx::PxJoint *QRevoluteJoint::createPhysxJoint(physx::PxRigidActor *actorA,
physx::PxRigidActor *actorB,
const physx::PxTransform &trfA,
const physx::PxTransform &trfB)
{
return physx::PxRevoluteJointCreate(*StaticPhysXObjects::getReference().physics, actorA, trfA,
actorB, trfB);
}
void QRevoluteJoint::setJointProperties()
{
physx::PxRevoluteJoint *joint = static_cast<physx::PxRevoluteJoint *>(m_joint);
const float lower = qMin(m_angularLimitLower, m_angularLimitUpper);
const float upper = qMax(m_angularLimitLower, m_angularLimitUpper);
physx::PxJointAngularLimitPair limit(lower, upper);
limit.stiffness = m_stiffness;
limit.damping = m_damping;
joint->setLimit(limit);
joint->setRevoluteJointFlag(physx::PxRevoluteJointFlag::eLIMIT_ENABLED, m_enableAngularLimit);
}
QT_END_NAMESPACE