include/extensions/PxContactJoint.h
File members: include/extensions/PxContactJoint.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_CONTACT_JOINT_H
#define PX_CONTACT_JOINT_H
#include "extensions/PxJoint.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxContactJoint;
PX_DEPRECATED PxContactJoint* PxContactJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
struct PX_DEPRECATED PxJacobianRow
{
PxVec3 linear0;
PxVec3 linear1;
PxVec3 angular0;
PxVec3 angular1;
PxJacobianRow(){}
PxJacobianRow(const PxVec3& lin0, const PxVec3& lin1, const PxVec3& ang0, const PxVec3& ang1) :
linear0(lin0), linear1(lin1), angular0(ang0), angular1(ang1)
{
}
void operator *= (const PxReal scale)
{
linear0 *= scale;
linear1 *= scale;
angular0 *= scale;
angular1 *= scale;
}
PxJacobianRow operator * (const PxReal scale) const
{
return PxJacobianRow(linear0*scale, linear1*scale, angular0*scale, angular1*scale);
}
};
PX_DEPRECATED class PxContactJoint : public PxJoint
{
public:
virtual void setContact(const PxVec3& contact) = 0;
virtual void setContactNormal(const PxVec3& contactNormal) = 0;
virtual void setPenetration(const PxReal penetration) = 0;
virtual PxVec3 getContact() const = 0;
virtual PxVec3 getContactNormal() const = 0;
virtual PxReal getPenetration() const = 0;
virtual PxReal getRestitution() const = 0;
virtual void setRestitution(const PxReal restitution) = 0;
virtual PxReal getBounceThreshold() const = 0;
virtual void setBounceThreshold(const PxReal bounceThreshold) = 0;
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxContactJoint"; }
virtual void computeJacobians(PxJacobianRow* jacobian) const = 0;
virtual PxU32 getNbJacobianRows() const = 0;
protected:
//serialization
PX_INLINE PxContactJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
PX_INLINE PxContactJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxContactJoint", PxJoint); }
//~serialization
};
#if !PX_DOXYGEN
}
#endif
#endif