270 lines
7.5 KiB
C++
270 lines
7.5 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_DISTANCEJOINT_H
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#define PX_DISTANCEJOINT_H
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/** \addtogroup extensions
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@{
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*/
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#include "extensions/PxJoint.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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class PxDistanceJoint;
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/**
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\brief Create a distance Joint.
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\param[in] physics the physics SDK
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\param[in] actor0 an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localFrame0 the position and orientation of the joint relative to actor0
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\param[in] actor1 an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localFrame1 the position and orientation of the joint relative to actor1
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@see PxDistanceJoint
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*/
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PxDistanceJoint* PxDistanceJointCreate(PxPhysics& physics,
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PxRigidActor* actor0, const PxTransform& localFrame0,
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PxRigidActor* actor1, const PxTransform& localFrame1);
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/**
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\brief flags for configuring the drive of a PxDistanceJoint
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@see PxDistanceJoint
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*/
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struct PxDistanceJointFlag
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{
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enum Enum
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{
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eMAX_DISTANCE_ENABLED = 1<<1,
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eMIN_DISTANCE_ENABLED = 1<<2,
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eSPRING_ENABLED = 1<<3
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};
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};
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typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags;
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PX_FLAGS_OPERATORS(PxDistanceJointFlag::Enum, PxU16);
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/*
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\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
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*/
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class PxDistanceJoint: public PxJoint
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{
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public:
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static const PxJointType::Enum Type = PxJointType::eDISTANCE;
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/**
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\brief Set the allowed minimum distance for the joint.
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The minimum distance must be no more than the maximum distance
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<b>Default</b> 0.0f
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<b>Range</b> [0, +inf)
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\param[in] distance the minimum distance
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@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()
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*/
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virtual void setMinDistance(PxReal distance) = 0;
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/**
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\brief Get the allowed minimum distance for the joint.
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\return the allowed minimum distance
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@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()
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*/
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virtual PxReal getMinDistance() const = 0;
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/**
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\brief Set the allowed maximum distance for the joint.
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The maximum distance must be no less than the minimum distance.
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<b>Default</b> 0.0f
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<b>Range</b> [0, +inf)
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\param[in] distance the maximum distance
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@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()
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*/
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virtual void setMaxDistance(PxReal distance) = 0;
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/**
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\brief Get the allowed maximum distance for the joint.
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\return the allowed maximum distance
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@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()
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*/
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virtual PxReal getMaxDistance() const = 0;
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/**
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\brief Set the error tolerance of the joint.
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\param[in] tolerance the distance beyond the allowed range at which the joint becomes active
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@see PxDistanceJoint::tolerance, getTolerance()
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*/
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virtual void setTolerance(PxReal tolerance) = 0;
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/**
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\brief Get the error tolerance of the joint.
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\brief the distance beyond the joint's [min, max] range before the joint becomes active.
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<b>Default</b> 0.25f * PxTolerancesScale::length
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<b>Range</b> (0, +inf)
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This value should be used to ensure that if the minimum distance is zero and the
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spring function is in use, the rest length of the spring is non-zero.
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@see PxDistanceJoint::tolerance, setTolerance()
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*/
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virtual PxReal getTolerance() const = 0;
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/**
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\brief Set the strength of the joint spring.
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The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
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<b>Default</b> 0.0f
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<b>Range</b> [0, +inf)
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\param[in] spring the spring strength of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED getSpring()
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*/
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virtual void setSpring(PxReal spring) = 0;
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/**
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\brief Get the strength of the joint spring.
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\return spring the spring strength of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setSpring()
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*/
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virtual PxReal getSpring() const = 0;
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/**
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\brief Set the damping of the joint spring.
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The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
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<b>Default</b> 0.0f
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<b>Range</b> [0, +inf)
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\param[in] damping the degree of damping of the joint spring of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
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*/
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virtual void setDamping(PxReal damping) = 0;
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/**
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\brief Get the damping of the joint spring.
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\return the degree of damping of the joint spring of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
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*/
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virtual PxReal getDamping() const = 0;
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/**
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\brief Set the flags specific to the Distance Joint.
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<b>Default</b> PxDistanceJointFlag::eMAX_DISTANCE_ENABLED
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\param[in] flags The joint flags.
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@see PxDistanceJointFlag setFlag() getFlags()
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*/
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virtual void setDistanceJointFlags(PxDistanceJointFlags flags) = 0;
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/**
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\brief Set a single flag specific to a Distance Joint to true or false.
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\param[in] flag The flag to set or clear.
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\param[in] value the value to which to set the flag
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@see PxDistanceJointFlag, getFlags() setFlags()
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*/
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virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0;
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/**
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\brief Get the flags specific to the Distance Joint.
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\return the joint flags
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@see PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()
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*/
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virtual PxDistanceJointFlags getDistanceJointFlags(void) const = 0;
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virtual const char* getConcreteTypeName() const { return "PxDistanceJoint"; }
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protected:
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PxDistanceJoint(PxRefResolver& v) : PxJoint(v) {}
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PxDistanceJoint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxDistanceJoint", name) || PxJoint::isKindOf(name); }
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};
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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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