Projekt_Grafika/dependencies/physx-4.1/include/extensions/PxContactJoint.h

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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_CONTACTJOINT_H
#define PX_CONTACTJOINT_H
#include "extensions/PxJoint.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxContactJoint;
/**
\brief Create a distance Joint.
\param[in] physics The physics SDK
\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
\param[in] localFrame0 The position and orientation of the joint relative to actor0
\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
\param[in] localFrame1 The position and orientation of the joint relative to actor1
@see PxContactJoint
*/
PxContactJoint* PxContactJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
@see PxContactJointCreate PxJoint
*/
struct PxJacobianRow
{
PxVec3 linear0;
PxVec3 linear1;
PxVec3 angular0;
PxVec3 angular1;
PxJacobianRow(){}
PxJacobianRow(const PxVec3& lin0, const PxVec3& lin1, const PxVec3& ang0, const PxVec3& ang1) :
linear0(lin0), linear1(lin1), angular0(ang0), angular1(ang1)
{
}
void operator *= (const PxReal scale)
{
linear0 *= scale;
linear1 *= scale;
angular0 *= scale;
angular1 *= scale;
}
PxJacobianRow operator * (const PxReal scale) const
{
return PxJacobianRow(linear0*scale, linear1*scale, angular0*scale, angular1*scale);
}
};
/**
\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
@see PxContactJointCreate PxJoint
*/
class PxContactJoint : public PxJoint
{
public:
/**
\brief Set the current contact of the joint
*/
virtual void setContact(const PxVec3& contact) = 0;
/**
\brief Set the current contact normal of the joint
*/
virtual void setContactNormal(const PxVec3& contactNormal) = 0;
/**
\brief Set the current penetration of the joint
*/
virtual void setPenetration(const PxReal penetration) = 0;
/**
\brief Return the current contact of the joint
*/
virtual PxVec3 getContact() const = 0;
/**
\brief Return the current contact normal of the joint
*/
virtual PxVec3 getContactNormal() const = 0;
/**
\brief Return the current penetration value of the joint
*/
virtual PxReal getPenetration() const = 0;
virtual PxReal getResititution() const = 0;
virtual void setResititution(const PxReal resititution) = 0;
virtual PxReal getBounceThreshold() const = 0;
virtual void setBounceThreshold(const PxReal bounceThreshold) = 0;
/**
\brief Returns string name of PxContactJoint, used for serialization
*/
virtual const char* getConcreteTypeName() const { return "PxContactJoint"; }
virtual void computeJacobians(PxJacobianRow* jacobian) const = 0;
virtual PxU32 getNbJacobianRows() const = 0;
protected:
//serialization
/**
\brief Constructor
*/
PX_INLINE PxContactJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
/**
\brief Deserialization constructor
*/
PX_INLINE PxContactJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
/**
\brief Returns whether a given type name matches with the type of this instance
*/
virtual bool isKindOf(const char* name) const { return !::strcmp("PxContactJoint", name) || PxJoint::isKindOf(name); }
//~serialization
};
#if !PX_DOXYGEN
}
#endif
#endif