299 lines
8.0 KiB
C
299 lines
8.0 KiB
C
|
// This code contains NVIDIA Confidential Information and is disclosed to you
|
||
|
|
// under a form of NVIDIA software license agreement provided separately to you.
|
||
|
|
//
|
||
|
|
// Notice
|
||
|
|
// NVIDIA Corporation and its licensors retain all intellectual property and
|
||
|
|
// proprietary rights in and to this software and related documentation and
|
||
|
|
// any modifications thereto. Any use, reproduction, disclosure, or
|
||
|
|
// distribution of this software and related documentation without an express
|
||
|
|
// license agreement from NVIDIA Corporation is strictly prohibited.
|
||
|
|
//
|
||
|
|
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
|
||
|
|
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
|
||
|
|
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
|
||
|
|
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
//
|
||
|
|
// Information and code furnished is believed to be accurate and reliable.
|
||
|
|
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
|
||
|
|
// information or for any infringement of patents or other rights of third parties that may
|
||
|
|
// result from its use. No license is granted by implication or otherwise under any patent
|
||
|
|
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
|
||
|
|
// This code supersedes and replaces all information previously supplied.
|
||
|
|
// NVIDIA Corporation products are not authorized for use as critical
|
||
|
|
// components in life support devices or systems without express written approval of
|
||
|
|
// NVIDIA Corporation.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2013 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_JOINTCONSTRAINT_H
|
||
|
|
#define PX_JOINTCONSTRAINT_H
|
||
|
|
/** \addtogroup extensions
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "foundation/PxTransform.h"
|
||
|
|
#include "PxRigidActor.h"
|
||
|
|
#include "PxConstraintDesc.h"
|
||
|
|
#include "common/PxSerialFramework.h"
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
class PxRigidActor;
|
||
|
|
class PxScene;
|
||
|
|
class PxPhysics;
|
||
|
|
class PxConstraint;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief an enumeration of PhysX' built-in joint types
|
||
|
|
|
||
|
|
@see PxJoint
|
||
|
|
*/
|
||
|
|
|
||
|
|
struct PxJointType
|
||
|
|
{
|
||
|
|
enum Enum
|
||
|
|
{
|
||
|
|
eD6,
|
||
|
|
eDISTANCE,
|
||
|
|
eFIXED,
|
||
|
|
ePRISMATIC,
|
||
|
|
eREVOLUTE,
|
||
|
|
eSPHERICAL
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief an enumeration for specifying one or other of the actors referenced by a joint
|
||
|
|
|
||
|
|
@see PxJoint
|
||
|
|
*/
|
||
|
|
|
||
|
|
struct PxJointActorIndex
|
||
|
|
{
|
||
|
|
enum Enum
|
||
|
|
{
|
||
|
|
eACTOR0,
|
||
|
|
eACTOR1,
|
||
|
|
COUNT,
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief a base interface providing common functionality for PhysX joints
|
||
|
|
*/
|
||
|
|
|
||
|
|
class PxJoint
|
||
|
|
: public PxSerializable
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the actors for this joint.
|
||
|
|
|
||
|
|
An actor may be NULL to indicate the world frame. At most one of the actors may be NULL.
|
||
|
|
|
||
|
|
\param[in] actor0 the first actor.
|
||
|
|
\param[in] actor1 the second actor
|
||
|
|
|
||
|
|
@see getActors()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Get the actors for this joint.
|
||
|
|
|
||
|
|
\param[out] actor0 the first actor.
|
||
|
|
\param[out] actor1 the second actor
|
||
|
|
|
||
|
|
@see setActors()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the joint local pose for an actor.
|
||
|
|
|
||
|
|
This is the relative pose which locates the joint frame relative to the actor.
|
||
|
|
|
||
|
|
\param[in] actor 0 for the first actor, 1 for the second actor.
|
||
|
|
\param[in] localPose the local pose for the actor this joint
|
||
|
|
|
||
|
|
@see getLocalPose()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief get the joint local pose for an actor.
|
||
|
|
|
||
|
|
\param[in] actor 0 for the first actor, 1 for the second actor.
|
||
|
|
|
||
|
|
return the local pose for this joint
|
||
|
|
|
||
|
|
@see setLocalPose()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual PxTransform getLocalPose(PxJointActorIndex::Enum actor) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief set the break force for this joint.
|
||
|
|
|
||
|
|
if the constraint force or torque on the joint exceeds the specified values, the joint will break,
|
||
|
|
at which point it will not constrain the two actors and the flag PxConstraintFlag::eBROKEN will be set. The
|
||
|
|
force and torque are measured in the joint frame of the first actor
|
||
|
|
|
||
|
|
\param[in] force the maximum force the joint can apply before breaking
|
||
|
|
\param[in] torque the maximum torque the joint can apply before breaking
|
||
|
|
|
||
|
|
@see getBreakForce() PxConstraintFlag::eBREAKABLE
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void setBreakForce(PxReal force, PxReal torque) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief get the break force for this joint.
|
||
|
|
|
||
|
|
\param[out] force the maximum force the joint can apply before breaking
|
||
|
|
\param[out] torque the maximum torque the joint can apply before breaking
|
||
|
|
|
||
|
|
@see setBreakForce()
|
||
|
|
*/
|
||
|
|
virtual void getBreakForce(PxReal& force, PxReal& torque) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief set the constraint flags for this joint.
|
||
|
|
|
||
|
|
\param[in] flags the constraint flags
|
||
|
|
|
||
|
|
@see PxConstraintFlag
|
||
|
|
*/
|
||
|
|
virtual void setConstraintFlags(PxConstraintFlags flags) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief set a constraint flags for this joint to a specified value.
|
||
|
|
|
||
|
|
\param[in] flag the constraint flag
|
||
|
|
\param[in] value the value to which to set the flag
|
||
|
|
|
||
|
|
@see PxConstraintFlag
|
||
|
|
*/
|
||
|
|
virtual void setConstraintFlag(PxConstraintFlag::Type flag, bool value) = 0;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief get the constraint flags for this joint.
|
||
|
|
|
||
|
|
\return the constraint flags
|
||
|
|
|
||
|
|
@see PxConstraintFlag
|
||
|
|
*/
|
||
|
|
virtual PxConstraintFlags getConstraintFlags() const = 0;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Retrieves the PxConstraint corresponding to this joint.
|
||
|
|
|
||
|
|
This can be used to determine, among other things, the force applied at the joint.
|
||
|
|
|
||
|
|
\return the constraint
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual PxConstraint* getConstraint() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Sets a name string for the object that can be retrieved with getName().
|
||
|
|
|
||
|
|
This is for debugging and is not used by the SDK. The string is not copied by the SDK,
|
||
|
|
only the pointer is stored.
|
||
|
|
|
||
|
|
\param[in] name String to set the objects name to.
|
||
|
|
|
||
|
|
@see getName()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void setName(const char* name) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Retrieves the name string set with setName().
|
||
|
|
|
||
|
|
\return Name string associated with object.
|
||
|
|
|
||
|
|
@see setName()
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual const char* getName() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Deletes the joint.
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void release() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Retrieves the scene which this joint belongs to.
|
||
|
|
|
||
|
|
\return Owner Scene. NULL if not part of a scene.
|
||
|
|
|
||
|
|
@see PxScene
|
||
|
|
*/
|
||
|
|
virtual PxScene* getScene() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Retrieves the type of this joint.
|
||
|
|
|
||
|
|
\return the joint type
|
||
|
|
|
||
|
|
@see PxJointType
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual PxJointType::Enum getType() const = 0;
|
||
|
|
|
||
|
|
void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
|
||
|
|
|
||
|
|
PxJoint(PxRefResolver& v) : PxSerializable(v) {}
|
||
|
|
static void getMetaData(PxSerialStream& stream);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
virtual ~PxJoint() {}
|
||
|
|
PxJoint() : userData(NULL) {}
|
||
|
|
virtual bool isKindOf(const char* name) const { return !strcmp("PxJoint", name) || PxSerializable::isKindOf(name); }
|
||
|
|
};
|
||
|
|
|
||
|
|
PX_DEFINE_TYPEINFO(PxFixedJoint, PxConcreteType::eUSER_FIXED_JOINT);
|
||
|
|
PX_DEFINE_TYPEINFO(PxRevoluteJoint, PxConcreteType::eUSER_REVOLUTE_JOINT);
|
||
|
|
PX_DEFINE_TYPEINFO(PxPrismaticJoint, PxConcreteType::eUSER_PRISMATIC_JOINT);
|
||
|
|
PX_DEFINE_TYPEINFO(PxSphericalJoint, PxConcreteType::eUSER_SPHERICAL_JOINT);
|
||
|
|
PX_DEFINE_TYPEINFO(PxDistanceJoint, PxConcreteType::eUSER_DISTANCE_JOINT);
|
||
|
|
PX_DEFINE_TYPEINFO(PxD6Joint, PxConcreteType::eUSER_D6_JOINT);
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** \brief Helper function to setup a joint's global frame
|
||
|
|
|
||
|
|
This replaces the following functions from previous SDK versions:
|
||
|
|
|
||
|
|
void NxJointDesc::setGlobalAnchor(const NxVec3& wsAnchor);
|
||
|
|
void NxJointDesc::setGlobalAxis(const NxVec3& wsAxis);
|
||
|
|
|
||
|
|
The function sets the joint's localPose using world-space input parameters.
|
||
|
|
|
||
|
|
\param[in] wsAnchor Global frame anchor point. <b>Range:</b> position vector
|
||
|
|
\param[in] wsAxis Global frame axis. <b>Range:</b> direction vector
|
||
|
|
\param[in,out] joint Joint having its global frame set.
|
||
|
|
*/
|
||
|
|
|
||
|
|
PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif
|