203 lines
6.2 KiB
C++
203 lines
6.2 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_SPHERICALJOINT_H
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#define PX_SPHERICALJOINT_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 PxSphericalJoint;
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/**
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\brief Create a spherical 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 PxSphericalJoint
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*/
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PxSphericalJoint* PxSphericalJointCreate(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 spherical joint.
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@see PxSphericalJoint
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*/
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struct PxSphericalJointFlag
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{
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enum Enum
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{
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eLIMIT_ENABLED = 1<<1, //!< the cone limit for the spherical joint is enabled
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};
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};
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typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
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PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16);
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/**
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\brief A joint which behaves in a similar way to a ball and socket.
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A spherical joint removes all linear degrees of freedom from two objects.
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The position of the joint on each actor is specified by the origin of the body's joint frame.
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A spherical joint may have a cone limit, to restrict the motion to within a certain range. In
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addition, the bodies may be projected together if the distance between them exceeds 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 PxSphericalJoint: public PxJoint
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{
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public:
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static const PxJointType::Enum Type = PxJointType::eSPHERICAL;
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/**
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\brief Set the limit cone.
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If enabled, the limit cone will constrain the angular movement of the joint to lie
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within an elliptical cone.
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\return the limit cone
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@see PxJointLimitCone setLimit()
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*/
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virtual PxJointLimitCone getLimitCone() const = 0;
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/**
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\brief Get the limit cone.
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\param[in] limit the limit cone
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@see PxJointLimitCone getLimit()
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*/
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virtual void setLimitCone(const PxJointLimitCone &limit) = 0;
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/**
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\brief Set the flags specific to the Spherical Joint.
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<b>Default</b> PxSphericalJointFlags(0)
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\param[in] flags The joint flags.
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@see PxSphericalJointFlag setFlag() getFlags()
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*/
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virtual void setSphericalJointFlags(PxSphericalJointFlags flags) = 0;
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/**
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\brief Set a single flag specific to a Spherical 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 PxSphericalJointFlag, getFlags() setFlags()
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*/
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virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;
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/**
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\brief Get the flags specific to the Spherical Joint.
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\return the joint flags
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@see PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()
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*/
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virtual PxSphericalJointFlags getSphericalJointFlags(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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virtual const char* getConcreteTypeName() const { return "PxSphericalJoint"; }
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protected:
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PxSphericalJoint(PxRefResolver& v) : PxJoint(v) {}
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PxSphericalJoint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxSphericalJoint", 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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