include/extensions/PxD6Joint.h
File members: include/extensions/PxD6Joint.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_D6_JOINT_H
#define PX_D6_JOINT_H
#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"
#include "foundation/PxFlags.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxD6Joint;
PxD6Joint* PxD6JointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
struct PxD6Axis
{
enum Enum
{
eX = 0,
eY = 1,
eZ = 2,
eTWIST = 3,
eSWING1 = 4,
eSWING2 = 5,
eCOUNT = 6
};
};
struct PxD6Motion
{
enum Enum
{
eLOCKED,
eLIMITED,
eFREE
};
};
struct PxD6Drive
{
enum Enum
{
eX = 0,
eY = 1,
eZ = 2,
eSWING = 3,
eTWIST = 4,
eSLERP = 5,
eCOUNT = 6
};
};
struct PxD6JointDriveFlag
{
enum Enum
{
eACCELERATION = (1 << 0),
eOUTPUT_FORCE = (1 << 1)
};
};
typedef PxFlags<PxD6JointDriveFlag::Enum, PxU32> PxD6JointDriveFlags;
PX_FLAGS_OPERATORS(PxD6JointDriveFlag::Enum, PxU32)
class PxD6JointDrive : public PxSpring
{
public:
PxReal forceLimit;
PxD6JointDriveFlags flags;
PxD6JointDrive(): PxSpring(0,0), forceLimit(PX_MAX_F32), flags(0) {}
PxD6JointDrive(PxReal driveStiffness, PxReal driveDamping, PxReal driveForceLimit, bool isAcceleration = false)
: PxSpring(driveStiffness, driveDamping)
, forceLimit(driveForceLimit)
, flags(isAcceleration?PxU32(PxD6JointDriveFlag::eACCELERATION) : 0)
{}
bool isValid() const
{
return PxIsFinite(stiffness) && stiffness>=0 &&
PxIsFinite(damping) && damping >=0 &&
PxIsFinite(forceLimit) && forceLimit >=0;
}
};
class PxD6Joint : public PxJoint
{
public:
virtual void setMotion(PxD6Axis::Enum axis, PxD6Motion::Enum type) = 0;
virtual PxD6Motion::Enum getMotion(PxD6Axis::Enum axis) const = 0;
virtual PxReal getTwistAngle() const = 0;
PX_DEPRECATED PX_FORCE_INLINE PxReal getTwist() const { return getTwistAngle(); }
virtual PxReal getSwingYAngle() const = 0;
virtual PxReal getSwingZAngle() const = 0;
virtual void setDistanceLimit(const PxJointLinearLimit& limit) = 0;
virtual PxJointLinearLimit getDistanceLimit() const = 0;
PX_DEPRECATED PX_FORCE_INLINE void setLinearLimit(const PxJointLinearLimit& limit) { setDistanceLimit(limit); }
PX_DEPRECATED PX_FORCE_INLINE PxJointLinearLimit getLinearLimit() const { return getDistanceLimit(); }
virtual void setLinearLimit(PxD6Axis::Enum axis, const PxJointLinearLimitPair& limit) = 0;
virtual PxJointLinearLimitPair getLinearLimit(PxD6Axis::Enum axis) const = 0;
virtual void setTwistLimit(const PxJointAngularLimitPair& limit) = 0;
virtual PxJointAngularLimitPair getTwistLimit() const = 0;
virtual void setSwingLimit(const PxJointLimitCone& limit) = 0;
virtual PxJointLimitCone getSwingLimit() const = 0;
virtual void setPyramidSwingLimit(const PxJointLimitPyramid& limit) = 0;
virtual PxJointLimitPyramid getPyramidSwingLimit() const = 0;
virtual void setDrive(PxD6Drive::Enum index, const PxD6JointDrive& drive) = 0;
virtual PxD6JointDrive getDrive(PxD6Drive::Enum index) const = 0;
virtual void setDrivePosition(const PxTransform& pose, bool autowake = true) = 0;
virtual PxTransform getDrivePosition() const = 0;
virtual void setDriveVelocity(const PxVec3& linear, const PxVec3& angular, bool autowake = true) = 0;
virtual void getDriveVelocity(PxVec3& linear, PxVec3& angular) const = 0;
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxD6Joint"; }
protected:
//serialization
PX_INLINE PxD6Joint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
PX_INLINE PxD6Joint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxD6Joint", PxJoint); }
//~serialization
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif