include/PxArticulationJointReducedCoordinate.h
File members: include/PxArticulationJointReducedCoordinate.h
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2024 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_ARTICULATION_JOINT_RC_H
#define PX_ARTICULATION_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 PX_OVERRIDE PX_FINAL { 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