496 lines
14 KiB
C++
496 lines
14 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 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 "PxPhysXConfig.h"
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#include "common/PxBase.h"
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#include "solver/PxSolverDefs.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxArticulationJointImpl;
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/**
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\brief The type of joint drive to use for the articulation joint.
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Two drive models are currently supported. in the TARGET model, the drive spring displacement will be determined
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as the rotation vector from the relative quaternion beetween child and parent, and the target quaternion.
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In the ERROR model, the drive spring displacement will be taken directly from the imaginary part of the relative
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quaternion. This drive model requires more computation on the part of the application, but allows driving the joint
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with a spring displacement that is more than a complete rotation.
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@see PxArticulationJoint
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*/
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struct PxArticulationJointDriveType
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{
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enum Enum
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{
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eTARGET = 0, // use the quaternion as the drive target
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eERROR = 1 // use the vector part of the quaternion as the drive error.
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};
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};
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class PxArticulationJointBase : public PxBase
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{
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public:
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/**
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\brief get the parent articulation link to which this articulation joint belongs
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\return the articulation link to which this joint belongs
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*/
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virtual PxArticulationLink& getParentArticulationLink() const = 0;
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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 get the child articulation link to which this articulation joint belongs
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\return the articulation link to which this joint belongs
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*/
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virtual PxArticulationLink& getChildArticulationLink() 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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virtual PxArticulationJointImpl* getImpl() = 0;
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virtual const PxArticulationJointImpl* getImpl() const = 0;
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virtual ~PxArticulationJointBase() {}
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private:
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protected:
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PX_INLINE PxArticulationJointBase(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
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PX_INLINE PxArticulationJointBase(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulationJointBase", name) || PxBase::isKindOf(name); }
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};
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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 PxArticulationJointBase
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{
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public:
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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 type
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\param[in] driveType the drive type for the joint
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<b>Default:</b> PxArticulationJointDriveType::eTARGET
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@see getDriveType()
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*/
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virtual void setDriveType(PxArticulationJointDriveType::Enum driveType) = 0;
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/**
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\brief get the drive type
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\return the drive type
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@see setDriveType()
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*/
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virtual PxArticulationJointDriveType::Enum getDriveType() 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, PX_MAX_F32)<br>
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<b>Default:</b> 0.0
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@see getStiffness()
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*/
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virtual void setStiffness(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 setStiffness()
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*/
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virtual PxReal getStiffness() 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, PX_MAX_F32)<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] zLimit the allowed extent of rotation around the z-axis
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\param[in] yLimit the allowed extent of rotation around the y-axis
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<b> Range:</b> ( (0, Pi), (0, Pi) )
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<b> Default:</b> (Pi/4, Pi/4)
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\note Please note the order of zLimit and yLimit.
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*/
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virtual void setSwingLimit(PxReal zLimit, PxReal yLimit) = 0;
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/**
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\brief get the extents for the swing limit cone
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\param[out] zLimit the allowed extent of rotation around the z-axis
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\param[out] yLimit the allowed extent of rotation around the y-axis
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\note Please note the order of zLimit and yLimit.
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@see setSwingLimit()
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*/
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virtual void getSwingLimit(PxReal& zLimit, PxReal& yLimit) 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, PX_MAX_F32), [0, PX_MAX_F32))
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<b> Default:</b> (0.0, 0.0)
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*/
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virtual void setTangentialStiffness(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 setTangentialStiffness()
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*/
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virtual PxReal getTangentialStiffness() 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, PX_MAX_F32), [0, PX_MAX_F32))
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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> (-Pi/4, Pi/4)
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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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PX_INLINE PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationJointBase(concreteType, baseFlags) {}
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PX_INLINE PxArticulationJoint(PxBaseFlags baseFlags) : PxArticulationJointBase(baseFlags) {}
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virtual ~PxArticulationJoint() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulationJoint", name) || PxArticulationJointBase::isKindOf(name); }
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};
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#if !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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