140 lines
4.7 KiB
C++
140 lines
4.7 KiB
C++
//
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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_PHYSICS_NX_ARTICULATION_LINK
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#define PX_PHYSICS_NX_ARTICULATION_LINK
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/** \addtogroup physics
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@{ */
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#include "PxPhysXConfig.h"
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#include "PxArticulationJoint.h"
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#include "PxRigidBody.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 PxArticulationBase;
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/**
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\brief a component of an articulation that represents a rigid body
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A limited subset of the properties of PxRigidDynamic are supported. In particular, sleep properties
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are attributes of the articulation rather than each individual body, damping and velocity limits
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are not supported, and links may not be kinematic.
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@see PxArticulation PxArticulation.createLink PxArticulationJoint PxRigidBody
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*/
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class PxArticulationLink : public PxRigidBody
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{
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public:
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/**
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\brief Deletes the articulation link.
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\note Only a leaf articulation link can be released
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Do not keep a reference to the deleted instance.
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@see PxArticulation::createLink()
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*/
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virtual void release() = 0;
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/**
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\brief get the articulation to which this articulation link belongs. This returns the base class. The application should
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establish which articulation implementation this actually is and upcast to that type to access non-common functionality
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\return the articulation to which this link belongs
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*/
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virtual PxArticulationBase& getArticulation() const = 0;
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/**
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\brief Get the joint which connects this link to its parent.
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\return The joint connecting the link to the parent. NULL for the root link.
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@see PxArticulationJoint
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*/
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virtual PxArticulationJointBase* getInboundJoint() const = 0;
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/**
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\brief Get the degree of freedom of the joint which connects this link to its parent.
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\return The degree of freeedom of the joint connecting the link to the parent. 0xffffffff for the root link.
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@see PxArticulationJoint
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*/
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virtual PxU32 getInboundJointDof() const = 0;
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/**
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\brief Get number of child links.
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\return the number of child links
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@see getChildren()
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*/
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virtual PxU32 getNbChildren() const = 0;
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/**
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\brief Get low-level link index
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\return low-level index
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*/
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virtual PxU32 getLinkIndex() const = 0;
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/**
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\brief Retrieve all the child links.
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\param[out] userBuffer The buffer to receive articulation link pointers.
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\param[in] bufferSize Size of provided user buffer.
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\return Number of articulation links written to the buffer.
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\param[in] startIndex Index of first child pointer to be retrieved
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@see getNbChildren()
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*/
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virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
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virtual const char* getConcreteTypeName() const { return "PxArticulationLink"; }
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protected:
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PX_INLINE PxArticulationLink(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {}
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PX_INLINE PxArticulationLink(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {}
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virtual ~PxArticulationLink() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulationLink", name) || PxRigidBody::isKindOf(name); }
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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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/** @} */
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#endif
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