125 lines
4.1 KiB
C++
125 lines
4.1 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_NX_ARTICULATION_LINK
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#define PX_PHYSICS_NX_ARTICULATION_LINK
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/** \addtogroup physics
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@{ */
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#include "PxPhysX.h"
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#include "PxArticulationJoint.h"
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#include "PxRigidBody.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief a component of an articulation that represents a rigid body
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A limited subset of the properties of PxRigidDynamic are supported. In particular, sleep properties
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are attributes of the articulation rather than each individual body, damping and velocity limits
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are not supported, and links may not be kinematic.
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@see PxArticulation PxArticulationJoint PxRigidBody
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*/
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class PxArticulationLink : public PxRigidBody
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{
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public:
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/**
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\brief Deletes the articulation link.
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\note Only a leaf articulation link can be released
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Do not keep a reference to the deleted instance.
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@see PxArticulation::createLink()
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*/
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virtual void release() = 0;
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/**
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\brief get the articulation to which this articulation link belongs
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\return the articulation to which this link belongs
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*/
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virtual PxArticulation& getArticulation() const = 0;
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/**
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\brief Get the joint which connects this link to its parent.
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\return The joint connecting the link to the parent. NULL for the root link.
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@see PxArticulationJoint
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*/
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virtual PxArticulationJoint* getInboundJoint() const = 0;
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/**
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\brief Get number of child links.
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\return the number of child links
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@see getChildren()
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*/
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virtual PxU32 getNbChildren() const = 0;
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/**
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\brief Retrieve all the child links.
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\param[out] userBuffer The buffer to receive articulation link pointers.
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\param[in] bufferSize Size of provided user buffer.
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\return Number of articulation links written to the buffer.
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@see getNbChildren()
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*/
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virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize) const = 0;
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virtual const char* getConcreteTypeName() const { return "PxArticulationLink"; }
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protected:
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PxArticulationLink(PxRefResolver& v) : PxRigidBody(v) {}
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PX_INLINE PxArticulationLink() : PxRigidBody() {}
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virtual ~PxArticulationLink() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxArticulationLink", name) || PxRigidBody::isKindOf(name); }
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};
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PX_INLINE PxArticulationLink* PxActor::isArticulationLink() { return is<PxArticulationLink>(); }
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PX_INLINE const PxArticulationLink* PxActor::isArticulationLink() const { return is<PxArticulationLink>(); }
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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