include/PxArticulationLink.h

File members: include/PxArticulationLink.h

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#ifndef gArticulation_LINK_H
#define gArticulation_LINK_H
#include "PxPhysXConfig.h"
#include "PxRigidBody.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxArticulationLink : public PxRigidBody
{
public:
    virtual     void                        release() = 0;

    virtual     PxArticulationReducedCoordinate&            getArticulation() const = 0;

    virtual     PxArticulationJointReducedCoordinate*   getInboundJoint() const = 0;

    virtual     PxU32                       getInboundJointDof() const = 0;

    virtual     PxU32                       getNbChildren() const = 0;

    virtual     PxU32                       getLinkIndex() const = 0;

    virtual     PxU32                       getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;

    virtual     void                        setCfmScale(const PxReal cfm) = 0;

    virtual     PxReal                      getCfmScale() const = 0;

    virtual     PxVec3                      getLinearVelocity() const = 0;

    virtual     PxVec3                      getAngularVelocity() const = 0;

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

protected:
    PX_INLINE                               PxArticulationLink(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {}
    PX_INLINE                               PxArticulationLink(PxBaseFlags baseFlags) : PxRigidBody(baseFlags)  {}
    virtual                                 ~PxArticulationLink()   {}
    virtual     bool                        isKindOf(const char* name)  const       { PX_IS_KIND_OF(name, "PxArticulationLink", PxRigidBody);   }
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif