326 lines
9.7 KiB
C++
326 lines
9.7 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_REVOLUTEJOINT_H
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#define PX_REVOLUTEJOINT_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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#include "extensions/PxJointLimit.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 PxRevoluteJoint;
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/**
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\brief Create a revolute 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 PxRevoluteJoint
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*/
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PxRevoluteJoint* PxRevoluteJointCreate(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 specific to the Revolute Joint.
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@see PxRevoluteJoint
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*/
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struct PxRevoluteJointFlag
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{
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enum Enum
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{
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eLIMIT_ENABLED = 1<<0, //< enable the limit
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eDRIVE_ENABLED = 1<<1, //< enable the drive
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eDRIVE_FREESPIN = 1<<2 //< if the existing velocity is beyond the drive velocity, do not add force
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};
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};
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typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
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PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16);
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/**
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\brief A joint which behaves in a similar way to a hinge or axle.
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A hinge joint removes all but a single rotational degree of freedom from two objects.
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The axis along which the two bodies may rotate is specified with a point and a direction
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vector.
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The position of the hinge on each body is specified by the origin of the body's joint frame.
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The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.
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\image html revoluteJoint.png
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A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors.
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It may also be given a limit, to restrict the revolute motion to within a certain range. In
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addition, the bodies may be projected together if the distance or angle between them exceeds
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a given threshold.
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Projection, drive and limits are activated by setting the appropriate flags on the joint.
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@see PxRevoluteJointCreate() PxJoint
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*/
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class PxRevoluteJoint: public PxJoint
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{
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public:
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static const PxJointType::Enum Type = PxJointType::eREVOLUTE;
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/**
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\brief set the joint limit parameters.
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The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED
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The limit angle range is (-2*PI, 2*PI) and the extent of the limit must be strictly less than 2*PI
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\param[in] limits The joint limit parameters.
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@see PxJointLimitPair getLimit()
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*/
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virtual void setLimit(const PxJointLimitPair& limits) = 0;
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/**
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\brief get the joint limit parameters.
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\return the joint limit parameters
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@see PxJointLimitPair setLimit()
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*/
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virtual PxJointLimitPair getLimit() const = 0;
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/**
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\brief set the target velocity for the drive model.
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The motor will only be able to reach this velocity if the maxForce is sufficiently large.
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If the joint is spinning faster than this velocity, the motor will actually try to brake
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(see PxRevoluteJointFlag::eDRIVE_FREESPIN.)
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If you set this to infinity then the motor will keep speeding up, unless there is some sort
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of resistance on the attached bodies. The sign of this variable determines the rotation direction,
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with positive values going the same way as positive joint angles.
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\param[in] velocity the drive target velocity
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 0.0
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@see PxRevoluteFlags::eDRIVE_FREESPIN
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*/
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virtual void setDriveVelocity(PxReal velocity) = 0;
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/**
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\brief gets the target velocity for the drive model.
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\return the drive target velocity
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@see setDriveVelocity()
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*/
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virtual PxReal getDriveVelocity() const = 0;
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/**
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\brief sets the maximum torque the drive can exert.
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Setting this to a very large value if velTarget is also very large may cause unexpected results.
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> PX_MAX_F32
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@see setDriveVelocity()
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*/
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virtual void setDriveForceLimit(PxReal limit) = 0;
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/**
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\brief gets the maximum torque the drive can exert.
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\return the torque limit
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@see setDriveVelocity()
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*/
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virtual PxReal getDriveForceLimit() const = 0;
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/**
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\brief sets the gear ratio for the drive.
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When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down.
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So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 1.0
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\param[in] ratio the drive gear ratio
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@see getDriveGearRatio()
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*/
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virtual void setDriveGearRatio(PxReal ratio) = 0;
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/**
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\brief gets the gear ratio.
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\return the drive gear ratio
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@see setDriveGearRatio()
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*/
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virtual PxReal getDriveGearRatio() const = 0;
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/**
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\brief sets the flags specific to the Revolute Joint.
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<b>Default</b> PxRevoluteJointFlags(0)
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\param[in] flags The joint flags.
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@see PxRevoluteJointFlag setFlag() getFlags()
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*/
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virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
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/**
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\brief sets a single flag specific to a Revolute Joint.
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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 PxRevoluteJointFlag, getFlags() setFlags()
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*/
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virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
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/**
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\brief gets the flags specific to the Revolute Joint.
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\return the joint flags
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@see PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()
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*/
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virtual PxRevoluteJointFlags getRevoluteJointFlags(void) const = 0;
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/**
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\brief Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION
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is set for the joint.
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If the joint separates by more than this distance along its locked degrees of freedom, the solver
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will move the bodies to close the distance.
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Setting a very small tolerance may result in simulation jitter or other artifacts.
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Sometimes it is not possible to project (for example when the joints form a cycle).
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 1e10f
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\param[in] tolerance the linear tolerance threshold
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@see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION
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*/
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virtual void setProjectionLinearTolerance(PxReal tolerance) = 0;
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/**
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\brief Get the linear tolerance threshold for projection.
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\return the linear tolerance threshold
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@see setProjectionLinearTolerance()
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*/
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virtual PxReal getProjectionLinearTolerance() const = 0;
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/**
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\brief Set the angular tolerance threshold for projection. Projection is enabled if
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PxConstraintFlag::ePROJECTION is set for the joint.
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If the joint deviates by more than this angle around its locked angular degrees of freedom,
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the solver will move the bodies to close the angle.
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Setting a very small tolerance may result in simulation jitter or other artifacts.
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Sometimes it is not possible to project (for example when the joints form a cycle).
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<b>Range:</b> [0,Pi] <br>
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<b>Default:</b> Pi
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\param[in] tolerance the angular tolerance threshold in radians
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@see getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION
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*/
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virtual void setProjectionAngularTolerance(PxReal tolerance) = 0;
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/**
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\brief gets the angular tolerance threshold for projection.
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\return the angular tolerance threshold in radians
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@see setProjectionAngularTolerance()
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*/
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virtual PxReal getProjectionAngularTolerance() const = 0;
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virtual const char* getConcreteTypeName() const { return "PxRevoluteJoint"; }
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protected:
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PxRevoluteJoint(PxRefResolver& v) : PxJoint(v) {}
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PxRevoluteJoint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxRevoluteJoint", 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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