299 lines
8.0 KiB
C++
299 lines
8.0 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_JOINTCONSTRAINT_H
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#define PX_JOINTCONSTRAINT_H
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/** \addtogroup extensions
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@{
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*/
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#include "foundation/PxTransform.h"
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#include "PxRigidActor.h"
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#include "PxConstraintDesc.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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class PxRigidActor;
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class PxScene;
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class PxPhysics;
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class PxConstraint;
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/**
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\brief an enumeration of PhysX' built-in joint types
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@see PxJoint
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*/
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struct PxJointType
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{
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enum Enum
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{
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eD6,
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eDISTANCE,
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eFIXED,
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ePRISMATIC,
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eREVOLUTE,
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eSPHERICAL
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};
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};
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/**
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\brief an enumeration for specifying one or other of the actors referenced by a joint
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@see PxJoint
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*/
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struct PxJointActorIndex
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{
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enum Enum
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{
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eACTOR0,
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eACTOR1,
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COUNT,
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};
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};
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/**
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\brief a base interface providing common functionality for PhysX joints
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*/
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class PxJoint
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: public PxSerializable
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{
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public:
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/**
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\brief Set the actors for this joint.
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An actor may be NULL to indicate the world frame. At most one of the actors may be NULL.
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\param[in] actor0 the first actor.
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\param[in] actor1 the second actor
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@see getActors()
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*/
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virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
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/**
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\brief Get the actors for this joint.
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\param[out] actor0 the first actor.
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\param[out] actor1 the second actor
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@see setActors()
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*/
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virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
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/**
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\brief Set the joint local pose for an actor.
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This is the relative pose which locates the joint frame relative to the actor.
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\param[in] actor 0 for the first actor, 1 for the second actor.
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\param[in] localPose the local pose for the actor this joint
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@see getLocalPose()
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*/
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virtual void setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;
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/**
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\brief get the joint local pose for an actor.
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\param[in] actor 0 for the first actor, 1 for the second actor.
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return the local pose for this joint
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@see setLocalPose()
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*/
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virtual PxTransform getLocalPose(PxJointActorIndex::Enum actor) const = 0;
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/**
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\brief set the break force for this joint.
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if the constraint force or torque on the joint exceeds the specified values, the joint will break,
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at which point it will not constrain the two actors and the flag PxConstraintFlag::eBROKEN will be set. The
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force and torque are measured in the joint frame of the first actor
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\param[in] force the maximum force the joint can apply before breaking
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\param[in] torque the maximum torque the joint can apply before breaking
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@see getBreakForce() PxConstraintFlag::eBREAKABLE
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*/
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virtual void setBreakForce(PxReal force, PxReal torque) = 0;
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/**
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\brief get the break force for this joint.
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\param[out] force the maximum force the joint can apply before breaking
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\param[out] torque the maximum torque the joint can apply before breaking
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@see setBreakForce()
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*/
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virtual void getBreakForce(PxReal& force, PxReal& torque) const = 0;
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/**
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\brief set the constraint flags for this joint.
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\param[in] flags the constraint flags
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@see PxConstraintFlag
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*/
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virtual void setConstraintFlags(PxConstraintFlags flags) = 0;
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/**
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\brief set a constraint flags for this joint to a specified value.
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\param[in] flag the constraint flag
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\param[in] value the value to which to set the flag
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@see PxConstraintFlag
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*/
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virtual void setConstraintFlag(PxConstraintFlag::Type flag, bool value) = 0;
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/**
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\brief get the constraint flags for this joint.
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\return the constraint flags
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@see PxConstraintFlag
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*/
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virtual PxConstraintFlags getConstraintFlags() const = 0;
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/**
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\brief Retrieves the PxConstraint corresponding to this joint.
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This can be used to determine, among other things, the force applied at the joint.
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\return the constraint
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*/
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virtual PxConstraint* getConstraint() const = 0;
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/**
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\brief Sets a name string for the object that can be retrieved with getName().
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This is for debugging and is not used by the SDK. The string is not copied by the SDK,
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only the pointer is stored.
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\param[in] name String to set the objects name to.
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@see getName()
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*/
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virtual void setName(const char* name) = 0;
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/**
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\brief Retrieves the name string set with setName().
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\return Name string associated with object.
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@see setName()
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*/
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virtual const char* getName() const = 0;
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/**
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\brief Deletes the joint.
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*/
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virtual void release() = 0;
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/**
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\brief Retrieves the scene which this joint belongs to.
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\return Owner Scene. NULL if not part of a scene.
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@see PxScene
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*/
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virtual PxScene* getScene() const = 0;
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/**
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\brief Retrieves the type of this joint.
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\return the joint type
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@see PxJointType
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*/
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virtual PxJointType::Enum getType() const = 0;
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void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
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PxJoint(PxRefResolver& v) : PxSerializable(v) {}
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static void getMetaData(PxSerialStream& stream);
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protected:
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virtual ~PxJoint() {}
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PxJoint() : userData(NULL) {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxJoint", name) || PxSerializable::isKindOf(name); }
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};
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PX_DEFINE_TYPEINFO(PxFixedJoint, PxConcreteType::eUSER_FIXED_JOINT);
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PX_DEFINE_TYPEINFO(PxRevoluteJoint, PxConcreteType::eUSER_REVOLUTE_JOINT);
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PX_DEFINE_TYPEINFO(PxPrismaticJoint, PxConcreteType::eUSER_PRISMATIC_JOINT);
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PX_DEFINE_TYPEINFO(PxSphericalJoint, PxConcreteType::eUSER_SPHERICAL_JOINT);
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PX_DEFINE_TYPEINFO(PxDistanceJoint, PxConcreteType::eUSER_DISTANCE_JOINT);
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PX_DEFINE_TYPEINFO(PxD6Joint, PxConcreteType::eUSER_D6_JOINT);
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** \brief Helper function to setup a joint's global frame
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This replaces the following functions from previous SDK versions:
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void NxJointDesc::setGlobalAnchor(const NxVec3& wsAnchor);
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void NxJointDesc::setGlobalAxis(const NxVec3& wsAxis);
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The function sets the joint's localPose using world-space input parameters.
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\param[in] wsAnchor Global frame anchor point. <b>Range:</b> position vector
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\param[in] wsAxis Global frame axis. <b>Range:</b> direction vector
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\param[in,out] joint Joint having its global frame set.
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*/
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PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);
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/** @} */
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#endif
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