Program Listing for include/extensions/PxJoint.h
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// * Redistributions in binary form must reproduce the above copyright
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//
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// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_JOINT_H
#define PX_JOINT_H
#include "foundation/PxTransform.h"
#include "PxRigidActor.h"
#include "PxConstraint.h"
#include "common/PxBase.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxRigidActor;
class PxScene;
class PxPhysics;
class PxConstraint;
struct PxJointConcreteType
{
enum Enum
{
eSPHERICAL = PxConcreteType::eFIRST_PHYSX_EXTENSION,
eREVOLUTE,
ePRISMATIC,
eFIXED,
eDISTANCE,
eD6,
eCONTACT,
eGEAR,
eRACK_AND_PINION,
eLast
};
};
PX_DEFINE_TYPEINFO(PxJoint, PxConcreteType::eUNDEFINED)
PX_DEFINE_TYPEINFO(PxRackAndPinionJoint, PxJointConcreteType::eRACK_AND_PINION)
PX_DEFINE_TYPEINFO(PxGearJoint, PxJointConcreteType::eGEAR)
PX_DEFINE_TYPEINFO(PxD6Joint, PxJointConcreteType::eD6)
PX_DEFINE_TYPEINFO(PxDistanceJoint, PxJointConcreteType::eDISTANCE)
PX_DEFINE_TYPEINFO(PxContactJoint, PxJointConcreteType::eCONTACT)
PX_DEFINE_TYPEINFO(PxFixedJoint, PxJointConcreteType::eFIXED)
PX_DEFINE_TYPEINFO(PxPrismaticJoint, PxJointConcreteType::ePRISMATIC)
PX_DEFINE_TYPEINFO(PxRevoluteJoint, PxJointConcreteType::eREVOLUTE)
PX_DEFINE_TYPEINFO(PxSphericalJoint, PxJointConcreteType::eSPHERICAL)
struct PxJointActorIndex
{
enum Enum
{
eACTOR0,
eACTOR1,
COUNT
};
};
class PxJoint : public PxBase
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
virtual void setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;
virtual PxTransform getLocalPose(PxJointActorIndex::Enum actor) const = 0;
virtual PxTransform getRelativeTransform() const = 0;
virtual PxVec3 getRelativeLinearVelocity() const = 0;
virtual PxVec3 getRelativeAngularVelocity() const = 0;
virtual void setBreakForce(PxReal force, PxReal torque) = 0;
virtual void getBreakForce(PxReal& force, PxReal& torque) const = 0;
virtual void setConstraintFlags(PxConstraintFlags flags) = 0;
virtual void setConstraintFlag(PxConstraintFlag::Enum flag, bool value) = 0;
virtual PxConstraintFlags getConstraintFlags() const = 0;
virtual void setInvMassScale0(PxReal invMassScale) = 0;
virtual PxReal getInvMassScale0() const = 0;
virtual void setInvInertiaScale0(PxReal invInertiaScale) = 0;
virtual PxReal getInvInertiaScale0() const = 0;
virtual void setInvMassScale1(PxReal invMassScale) = 0;
virtual PxReal getInvMassScale1() const = 0;
virtual void setInvInertiaScale1(PxReal invInertiaScale) = 0;
virtual PxReal getInvInertiaScale1() const = 0;
virtual PxConstraint* getConstraint() const = 0;
virtual void setName(const char* name) = 0;
virtual const char* getName() const = 0;
virtual void release() = 0;
virtual PxScene* getScene() const = 0;
void* userData;
//serialization
static void getBinaryMetaData(PxOutputStream& stream);
//~serialization
protected:
virtual ~PxJoint() {}
//serialization
PX_INLINE PxJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
PX_INLINE PxJoint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
virtual bool isKindOf(const char* name) const { return !::strcmp("PxJoint", name) || PxBase::isKindOf(name); }
//~serialization
};
class PxSpring
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
PxReal stiffness;
PxReal damping;
PxSpring(PxReal stiffness_, PxReal damping_): stiffness(stiffness_), damping(damping_) {}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);
#endif