154 lines
5.2 KiB
C++
154 lines
5.2 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_FIXEDJOINT_H
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#define PX_FIXEDJOINT_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 PxFixedJoint;
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/**
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\brief Create a fixed 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 PxFixedJoint
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*/
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PxFixedJoint* PxFixedJointCreate(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 A fixed joint permits no relative movement between two bodies. ie the bodies are glued together.
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\image html fixedJoint.png
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@see PxFixedJointCreate() PxJoint
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*/
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class PxFixedJoint: public PxJoint
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{
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public:
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static const PxJointType::Enum Type = PxJointType::eFIXED;
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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() PxJoint::setConstraintFlag()
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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 Get 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 "PxFixedJoint"; }
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protected:
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PxFixedJoint(PxRefResolver& v) : PxJoint(v) {}
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PxFixedJoint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxFixedJoint", 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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