420 lines
12 KiB
C
420 lines
12 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_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 "PxConstraint.h"
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#include "common/PxBase.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 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 PxJointConcreteType
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{
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enum Enum
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{
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eSPHERICAL = PxConcreteType::eFIRST_PHYSX_EXTENSION,
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eREVOLUTE,
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ePRISMATIC,
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eFIXED,
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eDISTANCE,
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eD6,
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eCONTACT,
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eLast
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};
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};
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PX_DEFINE_TYPEINFO(PxJoint, PxConcreteType::eUNDEFINED)
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PX_DEFINE_TYPEINFO(PxD6Joint, PxJointConcreteType::eD6)
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PX_DEFINE_TYPEINFO(PxDistanceJoint, PxJointConcreteType::eDISTANCE)
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PX_DEFINE_TYPEINFO(PxContactJoint, PxJointConcreteType::eCONTACT)
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PX_DEFINE_TYPEINFO(PxFixedJoint, PxJointConcreteType::eFIXED)
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PX_DEFINE_TYPEINFO(PxPrismaticJoint, PxJointConcreteType::ePRISMATIC)
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PX_DEFINE_TYPEINFO(PxRevoluteJoint, PxJointConcreteType::eREVOLUTE)
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PX_DEFINE_TYPEINFO(PxSphericalJoint, PxJointConcreteType::eSPHERICAL)
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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 : public PxBase
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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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 get the relative pose for this joint
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This function returns the pose of the joint frame of actor1 relative to actor0
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*/
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virtual PxTransform getRelativeTransform() const = 0;
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/**
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\brief get the relative linear velocity of the joint
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This function returns the linear velocity of the origin of the constraint frame of actor1, relative to the origin of the constraint
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frame of actor0. The value is returned in the constraint frame of actor0
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*/
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virtual PxVec3 getRelativeLinearVelocity() const = 0;
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/**
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\brief get the relative angular velocity of the joint
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This function returns the angular velocity of actor1 relative to actor0. The value is returned in the constraint frame of actor0
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*/
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virtual PxVec3 getRelativeAngularVelocity() 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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*/
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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::Enum 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 set the inverse mass scale for actor0.
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\param[in] invMassScale the scale to apply to the inverse mass of actor 0 for resolving this constraint
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@see getInvMassScale0
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*/
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virtual void setInvMassScale0(PxReal invMassScale) = 0;
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/**
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\brief get the inverse mass scale for actor0.
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\return inverse mass scale for actor0
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@see setInvMassScale0
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*/
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virtual PxReal getInvMassScale0() const = 0;
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/**
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\brief set the inverse inertia scale for actor0.
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\param[in] invInertiaScale the scale to apply to the inverse inertia of actor0 for resolving this constraint
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@see getInvMassScale0
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*/
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virtual void setInvInertiaScale0(PxReal invInertiaScale) = 0;
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/**
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\brief get the inverse inertia scale for actor0.
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\return inverse inertia scale for actor0
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@see setInvInertiaScale0
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*/
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virtual PxReal getInvInertiaScale0() const = 0;
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/**
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\brief set the inverse mass scale for actor1.
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\param[in] invMassScale the scale to apply to the inverse mass of actor 1 for resolving this constraint
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@see getInvMassScale1
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*/
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virtual void setInvMassScale1(PxReal invMassScale) = 0;
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/**
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\brief get the inverse mass scale for actor1.
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\return inverse mass scale for actor1
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@see setInvMassScale1
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*/
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virtual PxReal getInvMassScale1() const = 0;
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/**
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\brief set the inverse inertia scale for actor1.
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\param[in] invInertiaScale the scale to apply to the inverse inertia of actor1 for resolving this constraint
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@see getInvInertiaScale1
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*/
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virtual void setInvInertiaScale1(PxReal invInertiaScale) = 0;
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/**
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\brief get the inverse inertia scale for actor1.
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\return inverse inertia scale for actor1
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@see setInvInertiaScale1
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*/
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virtual PxReal getInvInertiaScale1() 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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\note This call does not wake up the connected rigid bodies.
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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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void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
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//serialization
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/**
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\brief Put class meta data in stream, used for serialization
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*/
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static void getBinaryMetaData(PxOutputStream& stream);
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//~serialization
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protected:
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virtual ~PxJoint() {}
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//serialization
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/**
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\brief Constructor
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*/
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PX_INLINE PxJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
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/**
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\brief Deserialization constructor
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*/
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PX_INLINE PxJoint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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/**
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\brief Returns whether a given type name matches with the type of this instance
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*/
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxJoint", name) || PxBase::isKindOf(name); }
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//~serialization
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};
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class PxSpring
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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|
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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PxReal stiffness; //!< the spring strength of the drive: that is, the force proportional to the position error
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PxReal damping; //!< the damping strength of the drive: that is, the force proportional to the velocity error
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PxSpring(PxReal stiffness_, PxReal damping_): stiffness(stiffness_), damping(damping_) {}
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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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/** \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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