96 lines
4.4 KiB
C
96 lines
4.4 KiB
C
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//
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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_RC
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#define PX_PHYSICS_NX_ARTICULATION_JOINT_RC
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/** \addtogroup physics
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@{ */
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#if 1
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#include "PxPhysXConfig.h"
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#include "common/PxBase.h"
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#include "PxArticulationJoint.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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/**
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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 PxArticulationJointReducedCoordinate : public PxArticulationJointBase
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{
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public:
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virtual void setJointType(PxArticulationJointType::Enum jointType) = 0;
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virtual PxArticulationJointType::Enum getJointType() const = 0;
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virtual void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;
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virtual PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const = 0;
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virtual void setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit) = 0;
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virtual void getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit) = 0;
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virtual void setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType = PxArticulationDriveType::eFORCE) = 0;
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virtual void getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) = 0;
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virtual void setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target) = 0;
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virtual void setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel) = 0;
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virtual PxReal getDriveTarget(PxArticulationAxis::Enum axis) = 0;
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virtual PxReal getDriveVelocity(PxArticulationAxis::Enum axis) = 0;
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virtual void setFrictionCoefficient(const PxReal coefficient) = 0;
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virtual PxReal getFrictionCoefficient() const = 0;
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virtual const char* getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }
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virtual void setMaxJointVelocity(const PxReal maxJointV) = 0;
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virtual PxReal getMaxJointVelocity() const = 0;
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protected:
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PX_INLINE PxArticulationJointReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationJointBase(concreteType, baseFlags) {}
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PX_INLINE PxArticulationJointReducedCoordinate(PxBaseFlags baseFlags) : PxArticulationJointBase(baseFlags) {}
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virtual ~PxArticulationJointReducedCoordinate() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulationJointReducedCoordinate", name) || PxBase::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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#endif
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/** @} */
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#endif
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