452 lines
11 KiB
C++
452 lines
11 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_JOINT
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#define PX_PHYSICS_NX_ARTICULATION_JOINT
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/** \addtogroup physics
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@{ */
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#include "PxPhysX.h"
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#include "common/PxSerialFramework.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 joint between two links in an articulation.
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The joint model is very similar to a PxSphericalJoint with swing and twist limits,
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and an implicit drive model.
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@see PxArticulation PxArticulationLink
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*/
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class PxArticulationJoint : public PxSerializable
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{
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public:
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/**
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\brief set the joint pose in the parent frame
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\param[in] pose the joint pose in the parent frame
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<b>Default:</b> the identity matrix
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@see getParentPose()
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*/
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virtual void setParentPose(const PxTransform& pose) = 0;
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/**
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\brief get the joint pose in the parent frame
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\return the joint pose in the parent frame
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@see setParentPose()
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*/
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virtual PxTransform getParentPose() const = 0;
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/**
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\brief set the joint pose in the child frame
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\param[in] pose the joint pose in the child frame
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<b>Default:</b> the identity matrix
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@see getChildPose()
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*/
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virtual void setChildPose(const PxTransform& pose) = 0;
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/**
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\brief get the joint pose in the child frame
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\return the joint pose in the child frame
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@see setChildPose()
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*/
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virtual PxTransform getChildPose() const = 0;
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/**
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\brief set the target drive
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This is the target position for the joint drive, measured in the parent constraint frame.
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\param[in] orientation the target orientation for the joint
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<b>Range:</b> a unit quaternion
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<b>Default:</b> the identity quaternion
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@see getTargetOrientation()
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*/
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virtual void setTargetOrientation(const PxQuat& orientation) = 0;
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/**
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\brief get the target drive position
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\return the joint drive target position
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@see setTargetOrientation()
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*/
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virtual PxQuat getTargetOrientation() const = 0;
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/**
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\brief set the target drive velocity
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This is the target velocity for the joint drive, measured in the parent constraint frame
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\param[in] velocity the target velocity for the joint
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<b>Default:</b> the zero vector
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@see getTargetVelocity()
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*/
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virtual void setTargetVelocity(const PxVec3& velocity) = 0;
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/**
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\brief get the target drive velocity
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\return the target velocity for the joint
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@see setTargetVelocity()
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*/
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virtual PxVec3 getTargetVelocity() const = 0;
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/**
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\brief set the drive strength of the joint acceleration spring.
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The acceleration generated by the spring drive is proportional to
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this value and the angle between the drive target position and the
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current position.
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\param[in] spring the spring strength of the joint
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 0.0
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@see 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 drive strength of the joint acceleration spring
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\return the spring strength of the joint
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@see 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 acceleration spring
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The acceleration generated by the spring drive is proportional to
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this value and the difference between the angular velocity of the
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joint and the target drive velocity.
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\param[in] damping the damping of the joint drive
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 0.0
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@see getDamping()
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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 acceleration spring
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@see 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 internal compliance
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Compliance determines the extent to which the joint resists acceleration.
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There are separate values for resistance to accelerations caused by external
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forces such as gravity and contact forces, and internal forces generated from
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other joints.
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A low compliance means that forces have little effect, a compliance of 1 means
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the joint does not resist such forces at all.
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\param[in] compliance the compliance to internal forces
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<b> Range: (0,1]</b>
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<b> Default:</b> 0.0
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@see getInternalCompliance()
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*/
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virtual void setInternalCompliance(PxReal compliance) = 0;
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/**
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\brief get the internal compliance
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\return the compliance to internal forces
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@see setInternalCompliance()
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*/
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virtual PxReal getInternalCompliance() const = 0;
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/**
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\brief get the drive external compliance
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Compliance determines the extent to which the joint resists acceleration.
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There are separate values for resistance to accelerations caused by external
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forces such as gravity and contact forces, and internal forces generated from
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other joints.
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A low compliance means that forces have little effect, a compliance of 1 means
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the joint does not resist such forces at all.
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\param[in] compliance the compliance to external forces
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<b> Range: (0,1]</b>
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<b> Default:</b> 0.0
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@see getExternalCompliance()
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*/
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virtual void setExternalCompliance(PxReal compliance) = 0;
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/**
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\brief get the drive external compliance
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\return the compliance to external forces
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@see setExternalCompliance()
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*/
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virtual PxReal getExternalCompliance() const = 0;
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/**
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\brief set the extents of the cone limit. The extents are measured in the frame
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of the parent.
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Note that very small or highly elliptical limit cones may result in jitter.
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\param[in] yLimit the allowed extent of rotation around the y-axis
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\param[in] zLimit the allowed extent of rotation around the z-axis
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<b> Range:</b> ([0,Pi), [0, Pi)]
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<b> Default:</b> (0.0, 0.0)
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*/
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virtual void setSwingLimit(PxReal yLimit, PxReal zLimit) = 0;
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/**
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\brief get the extents for the swing limit cone
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\param[out] yLimit the allowed extent of rotation around the y-axis
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\param[out] zLimit the allowed extent of rotation around the z-axis
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@see setSwingLimit()
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*/
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virtual void getSwingLimit(PxReal &yLimit, PxReal &zLimit) const = 0;
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/**
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\brief set the tangential spring for the limit cone
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<b> Range:</b> ([0,infinity), [0, infinity)]
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<b> Default:</b> (0.0, 0.0)
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*/
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virtual void setTangentialSpring(PxReal spring) = 0;
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/**
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\brief get the tangential spring for the swing limit cone
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\return the tangential spring
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@see setTangentialSpring()
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*/
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virtual PxReal getTangentialSpring() const = 0;
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/**
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\brief set the tangential damping for the limit cone
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<b> Range:</b> ([0,infinity), [0, infinity)]
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<b> Default:</b> (0.0, 0.0)
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*/
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virtual void setTangentialDamping(PxReal damping) = 0;
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/**
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\brief get the tangential damping for the swing limit cone
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\return the tangential damping
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@see setTangentialDamping()
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*/
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virtual PxReal getTangentialDamping() const = 0;
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/**
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\brief set the contact distance for the swing limit
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The contact distance should be less than either limit angle.
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<b> Range:</b> [0,Pi)
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<b> Default:</b> 0.05 radians
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@see getSwingLimitContactDistance()
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*/
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virtual void setSwingLimitContactDistance(PxReal contactDistance) = 0;
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/**
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\brief get the contact distance for the swing limit
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\return the contact distance for the swing limit cone
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@see setSwingLimitContactDistance()
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*/
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virtual PxReal getSwingLimitContactDistance() const = 0;
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/**
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\brief set the flag which enables the swing limit
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\param[in] enabled whether the limit is enabled
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<b>Default:</b> false
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@see getSwingLimitEnabled()
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*/
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virtual void setSwingLimitEnabled(bool enabled) = 0;
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/**
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\brief get the flag which enables the swing limit
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\return whether the swing limit is enabled
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@see setSwingLimitEnabled()
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*/
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virtual bool getSwingLimitEnabled() const = 0;
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/**
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\brief set the bounds of the twistLimit
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\param[in] lower the lower extent of the twist limit
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\param[in] upper the upper extent of the twist limit
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<b> Range: (-Pi,Pi)</b>
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<b> Default:</b> (0.0, 0.0)
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The lower limit value must be less than the upper limit if the limit is enabled
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@see getTwistLimit()
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*/
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virtual void setTwistLimit(PxReal lower, PxReal upper) = 0;
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/**
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\brief get the bounds of the twistLimit
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\param[out] lower the lower extent of the twist limit
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\param[out] upper the upper extent of the twist limit
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@see setTwistLimit()
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*/
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virtual void getTwistLimit(PxReal &lower, PxReal &upper) const = 0;
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/**
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\brief set the flag which enables the twist limit
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\param[in] enabled whether the twist limit is enabled
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<b>Default:</b> false
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@see getTwistLimitEnabled()
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*/
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virtual void setTwistLimitEnabled(bool enabled) = 0;
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/**
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\brief get the twistLimitEnabled flag
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\return whether the twist limit is enabled
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@see setTwistLimitEnabled()
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*/
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virtual bool getTwistLimitEnabled() const = 0;
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/**
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\brief set the contact distance for the swing limit
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The contact distance should be less than half the distance between the upper and lower limits.
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<b> Range:</b> [0,Pi)
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<b> Default:</b> 0.05 radians
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@see getTwistLimitContactDistance()
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*/
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virtual void setTwistLimitContactDistance(PxReal contactDistance) = 0;
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/**
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\brief get the contact distance for the swing limit
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\return the contact distance for the twist limit
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@see setTwistLimitContactDistance()
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*/
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virtual PxReal getTwistLimitContactDistance() const = 0;
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virtual const char* getConcreteTypeName() const { return "PxArticulationJoint"; }
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protected:
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PxArticulationJoint(PxRefResolver& v) : PxSerializable(v) {}
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PX_INLINE PxArticulationJoint() {}
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virtual ~PxArticulationJoint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxArticulationJoint", name) || PxSerializable::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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