Space-Project/dependencies/physx-4.1/include/extensions/PxPrismaticJoint.h

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//
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// 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_PRISMATICJOINT_H
#define PX_PRISMATICJOINT_H
/** \addtogroup extensions
@{
*/
#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxPrismaticJoint;
/**
\brief Create a prismatic 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 PxPrismaticJoint
*/
PxPrismaticJoint* PxPrismaticJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief Flags specific to the prismatic joint.
@see PxPrismaticJoint
*/
struct PxPrismaticJointFlag
{
enum Enum
{
eLIMIT_ENABLED = 1<<1
};
};
typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags;
PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16)
/**
\brief A prismatic joint permits relative translational movement between two bodies along
an axis, but no relative rotational movement.
the axis on each body is defined as the line containing the origin of the joint frame and
extending along the x-axis of that frame
\image html prismJoint.png
@see PxPrismaticJointCreate() PxJoint
*/
class PxPrismaticJoint : public PxJoint
{
public:
/**
\brief returns the displacement of the joint along its axis.
*/
virtual PxReal getPosition() const = 0;
/**
\brief returns the velocity of the joint along its axis
*/
virtual PxReal getVelocity() const = 0;
/**
\brief sets the joint limit parameters.
The limit range is [-PX_MAX_F32, PX_MAX_F32], but note that the width of the limit (upper-lower) must also be
a valid float.
@see PxJointLinearLimitPair getLimit()
*/
virtual void setLimit(const PxJointLinearLimitPair&) = 0;
/**
\brief gets the joint limit parameters.
@see PxJointLinearLimit getLimit()
*/
virtual PxJointLinearLimitPair getLimit() const = 0;
/**
\brief Set the flags specific to the Prismatic Joint.
<b>Default</b> PxPrismaticJointFlags(0)
\param[in] flags The joint flags.
@see PxPrismaticJointFlag setFlag() getFlags()
*/
virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0;
/**
\brief Set a single flag specific to a Prismatic 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 PxPrismaticJointFlag, getFlags() setFlags()
*/
virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0;
/**
\brief Get the flags specific to the Prismatic Joint.
\return the joint flags
@see PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags()
*/
virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0;
/**
\brief Set the linear tolerance threshold for projection.
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).
This value must be nonnegative.
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 1e10f
\param[in] tolerance the linear tolerance threshold
@see getProjectionLinearTolerance()
*/
virtual void setProjectionLinearTolerance(PxReal tolerance) = 0;
/**
\brief Get the linear tolerance threshold for projection.
\return the linear tolerance threshold in radians
@see setProjectionLinearTolerance()
*/
virtual PxReal getProjectionLinearTolerance() const = 0;
/**
\brief Set the angular 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> Pi
\param[in] tolerance the linear tolerance threshold
@see getProjectionLinearTolerance() PxJoint::setConstraintFlags()
*/
virtual void setProjectionAngularTolerance(PxReal tolerance) = 0;
/**
\brief Get the angular tolerance threshold for projection.
@see getProjectionAngularTolerance()
*/
virtual PxReal getProjectionAngularTolerance() const = 0;
/**
\brief Returns string name of PxPrismaticJoint, used for serialization
*/
virtual const char* getConcreteTypeName() const { return "PxPrismaticJoint"; }
protected:
//serialization
/**
\brief Constructor
*/
PX_INLINE PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
/**
\brief Deserialization constructor
*/
PX_INLINE PxPrismaticJoint(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("PxPrismaticJoint", name) || PxJoint::isKindOf(name); }
//~serialization
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif