include/PxArticulationJointReducedCoordinate.h

File members: include/PxArticulationJointReducedCoordinate.h

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#ifndef gArticulation_JOINT_RC_H
#define gArticulation_JOINT_RC_H
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
#include "solver/PxSolverDefs.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    class PxArticulationJointReducedCoordinate : public PxBase
    {
    public:

        virtual     PxArticulationLink& getParentArticulationLink() const = 0;

        virtual     void                setParentPose(const PxTransform& pose) = 0;

        virtual     PxTransform         getParentPose() const = 0;

        virtual     PxArticulationLink& getChildArticulationLink() const = 0;

        virtual     void                setChildPose(const PxTransform& pose) = 0;

        virtual     PxTransform         getChildPose() const = 0;

        virtual     void                setJointType(PxArticulationJointType::Enum jointType) = 0;

        virtual     PxArticulationJointType::Enum   getJointType() const = 0;

        virtual     void                setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;

        virtual     PxArticulationMotion::Enum  getMotion(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setLimitParams(PxArticulationAxis::Enum axis, const PxArticulationLimit& limit) = 0;

        virtual     PxArticulationLimit getLimitParams(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setDriveParams(PxArticulationAxis::Enum axis, const PxArticulationDrive& drive) = 0;

        virtual     PxArticulationDrive getDriveParams(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target, bool autowake = true) = 0;

        virtual     PxReal              getDriveTarget(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel, bool autowake = true) = 0;

        virtual     PxReal              getDriveVelocity(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setArmature(PxArticulationAxis::Enum axis, const PxReal armature) = 0;

        virtual     PxReal              getArmature(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setFrictionCoefficient(const PxReal coefficient) = 0;

        virtual     PxReal              getFrictionCoefficient() const = 0;

        virtual     void                setMaxJointVelocity(const PxReal maxJointV) = 0;

        virtual     PxReal              getMaxJointVelocity() const = 0;

        virtual     void                setJointPosition(PxArticulationAxis::Enum axis, const PxReal jointPos) = 0;

        virtual     PxReal              getJointPosition(PxArticulationAxis::Enum axis) const = 0;

        virtual     void                setJointVelocity(PxArticulationAxis::Enum axis, const PxReal jointVel) = 0;

        virtual     PxReal              getJointVelocity(PxArticulationAxis::Enum axis) const = 0;

        virtual const char*                     getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }

        virtual                                 ~PxArticulationJointReducedCoordinate() {}

        //public variables:
        void*                                   userData;

    protected:
        PX_INLINE                               PxArticulationJointReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
        PX_INLINE                               PxArticulationJointReducedCoordinate(PxBaseFlags baseFlags) : PxBase(baseFlags) {}

        virtual bool                            isKindOf(const char* name)  const { PX_IS_KIND_OF(name, "PxArticulationJointReducedCoordinate", PxBase); }
    };

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif