Space-Project/dependencies/physx-4.1/include/extensions/PxDistanceJoint.h
2021-01-16 17:11:39 +01:00

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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_DISTANCEJOINT_H
#define PX_DISTANCEJOINT_H
/** \addtogroup extensions
@{
*/
#include "extensions/PxJoint.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxDistanceJoint;
/**
\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 PxDistanceJoint
*/
PxDistanceJoint* PxDistanceJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief flags for configuring the drive of a PxDistanceJoint
@see PxDistanceJoint
*/
struct PxDistanceJointFlag
{
enum Enum
{
eMAX_DISTANCE_ENABLED = 1<<1,
eMIN_DISTANCE_ENABLED = 1<<2,
eSPRING_ENABLED = 1<<3
};
};
typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags;
PX_FLAGS_OPERATORS(PxDistanceJointFlag::Enum, PxU16)
/**
\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
@see PxDistanceJointCreate PxJoint
*/
class PxDistanceJoint : public PxJoint
{
public:
/**
\brief Return the current distance of the joint
*/
virtual PxReal getDistance() const = 0;
/**
\brief Set the allowed minimum distance for the joint.
The minimum distance must be no more than the maximum distance
<b>Default</b> 0.0f
<b>Range</b> [0, PX_MAX_F32)
\param[in] distance the minimum distance
@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()
*/
virtual void setMinDistance(PxReal distance) = 0;
/**
\brief Get the allowed minimum distance for the joint.
\return the allowed minimum distance
@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()
*/
virtual PxReal getMinDistance() const = 0;
/**
\brief Set the allowed maximum distance for the joint.
The maximum distance must be no less than the minimum distance.
<b>Default</b> 0.0f
<b>Range</b> [0, PX_MAX_F32)
\param[in] distance the maximum distance
@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()
*/
virtual void setMaxDistance(PxReal distance) = 0;
/**
\brief Get the allowed maximum distance for the joint.
\return the allowed maximum distance
@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()
*/
virtual PxReal getMaxDistance() const = 0;
/**
\brief Set the error tolerance of the joint.
\param[in] tolerance the distance beyond the allowed range at which the joint becomes active
@see PxDistanceJoint::tolerance, getTolerance()
*/
virtual void setTolerance(PxReal tolerance) = 0;
/**
\brief Get the error tolerance of the joint.
the distance beyond the joint's [min, max] range before the joint becomes active.
<b>Default</b> 0.25f * PxTolerancesScale::length
<b>Range</b> (0, PX_MAX_F32)
This value should be used to ensure that if the minimum distance is zero and the
spring function is in use, the rest length of the spring is non-zero.
@see PxDistanceJoint::tolerance, setTolerance()
*/
virtual PxReal getTolerance() const = 0;
/**
\brief Set the strength of the joint spring.
The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
<b>Default</b> 0.0f
<b>Range</b> [0, PX_MAX_F32)
\param[in] stiffness the spring strength of the joint
@see PxDistanceJointFlag::eSPRING_ENABLED getStiffness()
*/
virtual void setStiffness(PxReal stiffness) = 0;
/**
\brief Get the strength of the joint spring.
\return stiffness the spring strength of the joint
@see PxDistanceJointFlag::eSPRING_ENABLED setStiffness()
*/
virtual PxReal getStiffness() const = 0;
/**
\brief Set the damping of the joint spring.
The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
<b>Default</b> 0.0f
<b>Range</b> [0, PX_MAX_F32)
\param[in] damping the degree of damping of the joint spring of the joint
@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
*/
virtual void setDamping(PxReal damping) = 0;
/**
\brief Get the damping of the joint spring.
\return the degree of damping of the joint spring of the joint
@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
*/
virtual PxReal getDamping() const = 0;
/**
\brief Set the flags specific to the Distance Joint.
<b>Default</b> PxDistanceJointFlag::eMAX_DISTANCE_ENABLED
\param[in] flags The joint flags.
@see PxDistanceJointFlag setFlag() getFlags()
*/
virtual void setDistanceJointFlags(PxDistanceJointFlags flags) = 0;
/**
\brief Set a single flag specific to a Distance 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 PxDistanceJointFlag, getFlags() setFlags()
*/
virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0;
/**
\brief Get the flags specific to the Distance Joint.
\return the joint flags
@see PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()
*/
virtual PxDistanceJointFlags getDistanceJointFlags() const = 0;
/**
\brief Returns string name of PxDistanceJoint, used for serialization
*/
virtual const char* getConcreteTypeName() const { return "PxDistanceJoint"; }
protected:
//serialization
/**
\brief Constructor
*/
PX_INLINE PxDistanceJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
/**
\brief Deserialization constructor
*/
PX_INLINE PxDistanceJoint(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("PxDistanceJoint", name) || PxJoint::isKindOf(name); }
//~serialization
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif