include/PxArticulationTendon.h
File members: include/PxArticulationTendon.h
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_ARTICULATION_TENDON_H
#define PX_ARTICULATION_TENDON_H
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
#include "solver/PxSolverDefs.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxArticulationSpatialTendon;
class PxArticulationFixedTendon;
class PxArticulationLink;
class PxArticulationTendonLimit
{
public:
PxReal lowLimit;
PxReal highLimit;
};
class PxArticulationAttachment : public PxBase
{
public:
virtual ~PxArticulationAttachment() {}
virtual void setRestLength(const PxReal restLength) = 0;
virtual PxReal getRestLength() const = 0;
virtual void setLimitParameters(const PxArticulationTendonLimit& parameters) = 0;
virtual PxArticulationTendonLimit getLimitParameters() const = 0;
virtual void setRelativeOffset(const PxVec3& offset) = 0;
virtual PxVec3 getRelativeOffset() const = 0;
virtual void setCoefficient(const PxReal coefficient) = 0;
virtual PxReal getCoefficient() const = 0;
virtual PxArticulationLink* getLink() const = 0;
virtual PxArticulationAttachment* getParent() const = 0;
virtual bool isLeaf() const = 0;
virtual PxArticulationSpatialTendon* getTendon() const = 0;
virtual void release() = 0;
void* userData;
virtual const char* getConcreteTypeName() const { return "PxArticulationAttachment"; }
protected:
PX_INLINE PxArticulationAttachment(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
PX_INLINE PxArticulationAttachment(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
};
class PxArticulationTendonJoint : public PxBase
{
public:
virtual ~PxArticulationTendonJoint() {}
virtual void setCoefficient(const PxArticulationAxis::Enum axis, const PxReal coefficient, const PxReal recipCoefficient) = 0;
virtual void getCoefficient(PxArticulationAxis::Enum& axis, PxReal& coefficient, PxReal& recipCoefficient) const = 0;
virtual PxArticulationLink* getLink() const = 0;
virtual PxArticulationTendonJoint* getParent() const = 0;
virtual PxArticulationFixedTendon* getTendon() const = 0;
virtual void release() = 0;
void* userData;
virtual const char* getConcreteTypeName() const { return "PxArticulationTendonJoint"; }
protected:
PX_INLINE PxArticulationTendonJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
PX_INLINE PxArticulationTendonJoint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
};
class PxArticulationTendon : public PxBase
{
public:
virtual void setStiffness(const PxReal stiffness) = 0;
virtual PxReal getStiffness() const = 0;
virtual void setDamping(const PxReal damping) = 0;
virtual PxReal getDamping() const = 0;
virtual void setLimitStiffness(const PxReal stiffness) = 0;
virtual PxReal getLimitStiffness() const = 0;
virtual void setOffset(const PxReal offset, bool autowake = true) = 0;
virtual PxReal getOffset() const = 0;
virtual PxArticulationReducedCoordinate* getArticulation() const = 0;
virtual void release() = 0;
virtual ~PxArticulationTendon() {}
void* userData;
protected:
PX_INLINE PxArticulationTendon(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
PX_INLINE PxArticulationTendon(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
};
class PxArticulationSpatialTendon : public PxArticulationTendon
{
public:
virtual PxArticulationAttachment* createAttachment(PxArticulationAttachment* parent, const PxReal coefficient, const PxVec3 relativeOffset, PxArticulationLink* link) = 0;
virtual PxU32 getAttachments(PxArticulationAttachment** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxU32 getNbAttachments() const = 0;
virtual const char* getConcreteTypeName() const { return "PxArticulationSpatialTendon"; }
virtual ~PxArticulationSpatialTendon() {}
protected:
PX_INLINE PxArticulationSpatialTendon(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationTendon(concreteType, baseFlags) {}
PX_INLINE PxArticulationSpatialTendon(PxBaseFlags baseFlags) : PxArticulationTendon(baseFlags) {}
};
class PxArticulationFixedTendon : public PxArticulationTendon
{
public:
virtual PxArticulationTendonJoint* createTendonJoint(PxArticulationTendonJoint* parent, PxArticulationAxis::Enum axis, const PxReal coefficient, const PxReal recipCoefficient, PxArticulationLink* link) = 0;
virtual PxU32 getTendonJoints(PxArticulationTendonJoint** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxU32 getNbTendonJoints() const = 0;
virtual void setRestLength(const PxReal restLength) = 0;
virtual PxReal getRestLength() const = 0;
virtual void setLimitParameters(const PxArticulationTendonLimit& parameter) = 0;
virtual PxArticulationTendonLimit getLimitParameters() const = 0;
virtual const char* getConcreteTypeName() const { return "PxArticulationFixedTendon"; }
virtual ~PxArticulationFixedTendon() {}
protected:
PX_INLINE PxArticulationFixedTendon(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationTendon(concreteType, baseFlags) {}
PX_INLINE PxArticulationFixedTendon(PxBaseFlags baseFlags) : PxArticulationTendon(baseFlags) {}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif