void RevoluteJoint::setLimit(const PxJointAngularLimitPair& limit)
{
PX_CHECK_AND_RETURN(limit.isValid(), "PxRevoluteJoint::setTwistLimit: limit invalid");
PX_CHECK_AND_RETURN(limit.lower>-PxPi && limit.upper<PxPi , "PxRevoluteJoint::twist limit must be strictly -*PI and PI");
PX_CHECK_AND_RETURN(limit.upper - limit.lower < PxTwoPi, "PxRevoluteJoint::twist limit range must be strictly less than 2*PI");
data().limit = limit;
markDirty();
}
void D6Joint::setTwistLimit(const PxJointAngularLimitPair& l)
{
PX_CHECK_AND_RETURN(l.isValid(), "PxD6Joint::setTwistLimit: limit invalid");
PX_CHECK_AND_RETURN(l.lower>-PxTwoPi && l.upper<PxTwoPi , "PxD6Joint::twist limit must be strictly -2*PI and 2*PI");
PX_CHECK_AND_RETURN(l.upper - l.lower < PxTwoPi, "PxD6Joint::twist limit range must be strictly less than 2*PI");
data().twistLimit = l;
mRecomputeLimits = true;
markDirty();
}