A clock in PhysX using revolute joints + motors

PhysXClock.cpp

//Make the minute and hour hands, the shapes
Capsule* minuteHand = new Capsule(PxTransform(PxVec3(0, 8, 0)), PxVec2(0.1f, 2));
Capsule* hourHand   = new Capsule(PxTransform(PxVec3(0, 8, 0)), PxVec2(0.1f, 1));

//Turn off gravity
hourHand->Get()->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
minuteHand->Get()->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);

//Add them to the scene
Add(hourHand);
Add(minuteHand);

//Set the local position to by offset by the length of the capsule (so the pivot point
//for rotation is the bottom, not the centre) and rotate this by 90 deg on the y axis
hourHand->GetShape(0)->setLocalPose(PxTransform(PxVec3(0, 0, 1), PxQuat(PxPiDivTwo, PxVec3(0, 1, 0))));
minuteHand->GetShape(0)->setLocalPose(PxTransform(PxVec3(0, 0, 2), PxQuat(PxPiDivTwo, PxVec3(0, 1, 0))));

//The first frame: connect joint to fixed point (0, 8, 0), and the joint rotation axis will 
//90 degrees on the y axis too
PxTransform frame0 = PxTransform(PxVec3(0, 8, 0), PxQuat(PxPiDivTwo, PxVec3(0, 1, 0)));

//The second frame: the offset point / distance to rotate around.. we dont want to orbit sooo
//lets leave this as (0, 0, 0) - rotate AROUND the origin point
PxTransform frame1 = PxTransform(PxVec3(0, 0, 0));

//Make the joints with the frames
RevoluteJoint* jointHour = new RevoluteJoint(NULL, frame0, hourHand, frame1);
RevoluteJoint* jointMinute = new RevoluteJoint(NULL, frame0, minuteHand, frame1);

//Set both of the motors to run at the same speed
jointHour->DriveVelocity(PxPi*5);
jointMinute->DriveVelocity(PxPi*5);

//But set the hour joint to be 60 times faster than the second hand
jointHour->SetGearRatio(60);