105 lines
5.3 KiB
C++
105 lines
5.3 KiB
C++
//
|
|
// 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_PHYSICS_NP_ARTICULATION_JOINT_RC
|
|
#define PX_PHYSICS_NP_ARTICULATION_JOINT_RC
|
|
|
|
#include "PxArticulationJointReducedCoordinate.h"
|
|
#include "ScbArticulationJoint.h"
|
|
#include "NpArticulationTemplate.h"
|
|
#include "NpArticulationJoint.h"
|
|
|
|
#if PX_ENABLE_DEBUG_VISUALIZATION
|
|
#include "CmRenderOutput.h"
|
|
#endif
|
|
|
|
namespace physx
|
|
{
|
|
class NpArticulationJointReducedCoordinate : public NpArticulationJointTemplate<PxArticulationJointReducedCoordinate>
|
|
{
|
|
//= ATTENTION! =====================================================================================
|
|
// Changing the data layout of this class breaks the binary serialization format. See comments for
|
|
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
|
|
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
|
|
// accordingly.
|
|
//==================================================================================================
|
|
public:
|
|
// PX_SERIALIZATION
|
|
NpArticulationJointReducedCoordinate(PxBaseFlags baseFlags)
|
|
: NpArticulationJointTemplate(baseFlags) {}
|
|
|
|
virtual void resolveReferences(PxDeserializationContext& context);
|
|
static NpArticulationJointReducedCoordinate* createObject(PxU8*& address, PxDeserializationContext& context);
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
|
void exportExtraData(PxSerializationContext&) {}
|
|
void importExtraData(PxDeserializationContext&) {}
|
|
virtual void requiresObjects(PxProcessPxBaseCallback&) {}
|
|
virtual bool isSubordinate() const { return true; }
|
|
//~PX_SERIALIZATION
|
|
NpArticulationJointReducedCoordinate(NpArticulationLink& parent, const PxTransform& parentFrame, NpArticulationLink& child, const PxTransform& childFrame);
|
|
virtual ~NpArticulationJointReducedCoordinate();
|
|
|
|
//---------------------------------------------------------------------------------
|
|
// PxArticulationJoint implementation
|
|
//---------------------------------------------------------------------------------
|
|
|
|
virtual void setJointType(PxArticulationJointType::Enum jointType);
|
|
virtual PxArticulationJointType::Enum getJointType() const;
|
|
|
|
virtual void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion);
|
|
virtual PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const;
|
|
|
|
virtual void setFrictionCoefficient(const PxReal coefficient);
|
|
virtual PxReal getFrictionCoefficient() const;
|
|
|
|
virtual void setMaxJointVelocity(const PxReal maxJointV);
|
|
virtual PxReal getMaxJointVelocity() const;
|
|
|
|
virtual void setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit);
|
|
virtual void getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit);
|
|
|
|
virtual void setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType);
|
|
virtual void getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType);
|
|
|
|
virtual void setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target);
|
|
virtual PxReal getDriveTarget(PxArticulationAxis::Enum axis);
|
|
|
|
virtual void setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel);
|
|
virtual PxReal getDriveVelocity(PxArticulationAxis::Enum axis);
|
|
#if PX_CHECKED
|
|
private:
|
|
bool isValidMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion);
|
|
#endif
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|