216 lines
6.7 KiB
C++
216 lines
6.7 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_SPHERICALJOINT_H
|
|
#define PX_SPHERICALJOINT_H
|
|
/** \addtogroup extensions
|
|
@{
|
|
*/
|
|
|
|
#include "extensions/PxJoint.h"
|
|
#include "extensions/PxJointLimit.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
#endif
|
|
|
|
class PxSphericalJoint;
|
|
|
|
/**
|
|
\brief Create a spherical 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 PxSphericalJoint
|
|
*/
|
|
PxSphericalJoint* PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
|
|
|
|
|
|
/**
|
|
\brief Flags specific to the spherical joint.
|
|
|
|
@see PxSphericalJoint
|
|
*/
|
|
struct PxSphericalJointFlag
|
|
{
|
|
enum Enum
|
|
{
|
|
eLIMIT_ENABLED = 1<<1 //!< the cone limit for the spherical joint is enabled
|
|
};
|
|
};
|
|
typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
|
|
PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)
|
|
|
|
/**
|
|
\brief A joint which behaves in a similar way to a ball and socket.
|
|
|
|
A spherical joint removes all linear degrees of freedom from two objects.
|
|
|
|
The position of the joint on each actor is specified by the origin of the body's joint frame.
|
|
|
|
A spherical joint may have a cone limit, to restrict the motion to within a certain range. In
|
|
addition, the bodies may be projected together if the distance between them exceeds a given threshold.
|
|
|
|
Projection, drive and limits are activated by setting the appropriate flags on the joint.
|
|
|
|
@see PxRevoluteJointCreate() PxJoint
|
|
*/
|
|
class PxSphericalJoint : public PxJoint
|
|
{
|
|
public:
|
|
|
|
/**
|
|
\brief Set the limit cone.
|
|
|
|
If enabled, the limit cone will constrain the angular movement of the joint to lie
|
|
within an elliptical cone.
|
|
|
|
\return the limit cone
|
|
|
|
@see PxJointLimitCone setLimit()
|
|
*/
|
|
virtual PxJointLimitCone getLimitCone() const = 0;
|
|
|
|
/**
|
|
\brief Get the limit cone.
|
|
|
|
\param[in] limit the limit cone
|
|
|
|
@see PxJointLimitCone getLimit()
|
|
*/
|
|
virtual void setLimitCone(const PxJointLimitCone& limit) = 0;
|
|
|
|
/**
|
|
\brief get the swing angle of the joint from the Y axis
|
|
*/
|
|
virtual PxReal getSwingYAngle() const = 0;
|
|
|
|
/**
|
|
\brief get the swing angle of the joint from the Z axis
|
|
*/
|
|
virtual PxReal getSwingZAngle() const = 0;
|
|
|
|
/**
|
|
\brief Set the flags specific to the Spherical Joint.
|
|
|
|
<b>Default</b> PxSphericalJointFlags(0)
|
|
|
|
\param[in] flags The joint flags.
|
|
|
|
@see PxSphericalJointFlag setFlag() getFlags()
|
|
*/
|
|
virtual void setSphericalJointFlags(PxSphericalJointFlags flags) = 0;
|
|
|
|
/**
|
|
\brief Set a single flag specific to a Spherical Joint to true or false.
|
|
|
|
\param[in] flag The flag to set or clear.
|
|
\param[in] value the value to which to set the flag
|
|
|
|
@see PxSphericalJointFlag, getFlags() setFlags()
|
|
*/
|
|
virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;
|
|
|
|
/**
|
|
\brief Get the flags specific to the Spherical Joint.
|
|
|
|
\return the joint flags
|
|
|
|
@see PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()
|
|
*/
|
|
virtual PxSphericalJointFlags getSphericalJointFlags() const = 0;
|
|
|
|
/**
|
|
\brief Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION
|
|
is set for the joint.
|
|
|
|
If the joint separates by more than this distance along its locked degrees of freedom, the solver
|
|
will move the bodies to close the distance.
|
|
|
|
Setting a very small tolerance may result in simulation jitter or other artifacts.
|
|
|
|
Sometimes it is not possible to project (for example when the joints form a cycle).
|
|
|
|
<b>Range:</b> [0, PX_MAX_F32)<br>
|
|
<b>Default:</b> 1e10f
|
|
|
|
\param[in] tolerance the linear tolerance threshold
|
|
|
|
@see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION
|
|
*/
|
|
virtual void setProjectionLinearTolerance(PxReal tolerance) = 0;
|
|
|
|
/**
|
|
\brief Get the linear tolerance threshold for projection.
|
|
|
|
\return the linear tolerance threshold
|
|
|
|
@see setProjectionLinearTolerance()
|
|
*/
|
|
virtual PxReal getProjectionLinearTolerance() const = 0;
|
|
|
|
/**
|
|
\brief Returns string name of PxSphericalJoint, used for serialization
|
|
*/
|
|
virtual const char* getConcreteTypeName() const { return "PxSphericalJoint"; }
|
|
|
|
protected:
|
|
|
|
//serialization
|
|
|
|
/**
|
|
\brief Constructor
|
|
*/
|
|
PX_INLINE PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
|
|
|
|
/**
|
|
\brief Deserialization constructor
|
|
*/
|
|
PX_INLINE PxSphericalJoint(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("PxSphericalJoint", name) || PxJoint::isKindOf(name); }
|
|
|
|
//~serialization
|
|
};
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|
|
#endif
|