PxRevoluteJoint.h

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00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_REVOLUTEJOINT_H
00032 #define PX_REVOLUTEJOINT_H
00033 
00037 #include "extensions/PxJoint.h"
00038 #include "extensions/PxJointLimit.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045 class PxRevoluteJoint;
00046 
00059 PxRevoluteJoint*    PxRevoluteJointCreate(PxPhysics& physics, 
00060                                           PxRigidActor* actor0, const PxTransform& localFrame0, 
00061                                           PxRigidActor* actor1, const PxTransform& localFrame1);
00062 
00063 
00070 struct PxRevoluteJointFlag
00071 {
00072     enum Enum
00073     {
00074         eLIMIT_ENABLED          = 1<<0,     
00075         eDRIVE_ENABLED          = 1<<1,     
00076         eDRIVE_FREESPIN         = 1<<2      
00077     };
00078 };
00079 
00080 typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
00081 PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)
00082 
00083 
00084 
00107 class PxRevoluteJoint : public PxJoint
00108 {
00109 public:
00110 
00114     virtual PxReal getAngle()                           const           = 0;
00115 
00116 
00120     virtual PxReal getVelocity()                        const           = 0;
00121 
00135     virtual void            setLimit(const PxJointAngularLimitPair& limits)         = 0;
00136 
00144     virtual PxJointAngularLimitPair getLimit()          const           = 0;
00145 
00146 
00147 
00167     virtual void            setDriveVelocity(PxReal velocity)           = 0;
00168 
00176     virtual PxReal          getDriveVelocity()          const           = 0;
00177 
00178 
00191     virtual void            setDriveForceLimit(PxReal limit)            = 0;
00192 
00200     virtual PxReal          getDriveForceLimit()        const           = 0;
00201 
00202 
00216     virtual void            setDriveGearRatio(PxReal ratio)         = 0;
00217 
00225     virtual PxReal          getDriveGearRatio()     const           = 0;
00226 
00227 
00238     virtual void                    setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
00239 
00249     virtual void                    setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
00250 
00259     virtual PxRevoluteJointFlags    getRevoluteJointFlags(void)                 const   = 0;
00260 
00280     virtual void                setProjectionLinearTolerance(PxReal tolerance)                  = 0;
00281 
00282 
00291     virtual PxReal              getProjectionLinearTolerance()          const                   = 0;
00292 
00312     virtual void                setProjectionAngularTolerance(PxReal tolerance)                 = 0;
00313 
00322     virtual PxReal              getProjectionAngularTolerance()         const                   = 0;
00323 
00327     virtual const char*         getConcreteTypeName() const { return "PxRevoluteJoint"; }
00328 
00329 protected:
00330 
00331     //serialization
00332 
00336     PX_INLINE                   PxRevoluteJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
00337 
00341     PX_INLINE                   PxRevoluteJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
00342 
00346     virtual bool                isKindOf(const char* name) const { return !::strcmp("PxRevoluteJoint", name) || PxJoint::isKindOf(name); }
00347     
00348     //~serialization
00349 };
00350 
00351 #if !PX_DOXYGEN
00352 } // namespace physx
00353 #endif
00354 
00356 #endif


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