237 lines
7.1 KiB
C++
237 lines
7.1 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_PRISMATICJOINT_H
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#define PX_PRISMATICJOINT_H
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/** \addtogroup extensions
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@{
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*/
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#include "extensions/PxJoint.h"
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#include "extensions/PxJointLimit.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 PxPrismaticJoint;
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/**
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\brief Create a prismatic joint.
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\param[in] physics The physics SDK
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\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
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\param[in] localFrame0 The position and orientation of the joint relative to actor0
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\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
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\param[in] localFrame1 The position and orientation of the joint relative to actor1
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@see PxPrismaticJoint
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*/
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PxPrismaticJoint* PxPrismaticJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
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/**
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\brief Flags specific to the prismatic joint.
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@see PxPrismaticJoint
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*/
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struct PxPrismaticJointFlag
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{
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enum Enum
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{
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eLIMIT_ENABLED = 1<<1
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};
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};
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typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags;
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PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16)
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/**
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\brief A prismatic joint permits relative translational movement between two bodies along
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an axis, but no relative rotational movement.
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the axis on each body is defined as the line containing the origin of the joint frame and
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extending along the x-axis of that frame
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\image html prismJoint.png
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@see PxPrismaticJointCreate() PxJoint
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*/
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class PxPrismaticJoint : public PxJoint
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{
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public:
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/**
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\brief returns the displacement of the joint along its axis.
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*/
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virtual PxReal getPosition() const = 0;
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/**
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\brief returns the velocity of the joint along its axis
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*/
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virtual PxReal getVelocity() const = 0;
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/**
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\brief sets the joint limit parameters.
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The limit range is [-PX_MAX_F32, PX_MAX_F32], but note that the width of the limit (upper-lower) must also be
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a valid float.
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@see PxJointLinearLimitPair getLimit()
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*/
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virtual void setLimit(const PxJointLinearLimitPair&) = 0;
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/**
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\brief gets the joint limit parameters.
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@see PxJointLinearLimit getLimit()
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*/
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virtual PxJointLinearLimitPair getLimit() const = 0;
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/**
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\brief Set the flags specific to the Prismatic Joint.
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<b>Default</b> PxPrismaticJointFlags(0)
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\param[in] flags The joint flags.
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@see PxPrismaticJointFlag setFlag() getFlags()
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*/
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virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0;
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/**
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\brief Set a single flag specific to a Prismatic Joint to true or false.
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\param[in] flag The flag to set or clear.
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\param[in] value The value to which to set the flag
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@see PxPrismaticJointFlag, getFlags() setFlags()
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*/
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virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0;
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/**
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\brief Get the flags specific to the Prismatic Joint.
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\return the joint flags
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@see PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags()
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*/
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virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0;
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/**
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\brief Set the linear tolerance threshold for projection.
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If the joint separates by more than this distance along its locked degrees of freedom, the solver
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will move the bodies to close the distance.
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Setting a very small tolerance may result in simulation jitter or other artifacts.
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Sometimes it is not possible to project (for example when the joints form a cycle).
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This value must be nonnegative.
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<b>Range:</b> [0, PX_MAX_F32)<br>
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<b>Default:</b> 1e10f
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\param[in] tolerance the linear tolerance threshold
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@see getProjectionLinearTolerance()
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*/
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virtual void setProjectionLinearTolerance(PxReal tolerance) = 0;
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/**
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\brief Get the linear tolerance threshold for projection.
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\return the linear tolerance threshold in radians
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@see setProjectionLinearTolerance()
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*/
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virtual PxReal getProjectionLinearTolerance() const = 0;
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/**
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\brief Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION
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is set for the joint.
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If the joint separates by more than this distance along its locked degrees of freedom, the solver
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will move the bodies to close the distance.
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Setting a very small tolerance may result in simulation jitter or other artifacts.
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Sometimes it is not possible to project (for example when the joints form a cycle).
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<b>Range:</b> [0, PX_MAX_F32)<br>
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<b>Default:</b> Pi
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\param[in] tolerance the linear tolerance threshold
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@see getProjectionLinearTolerance() PxJoint::setConstraintFlags()
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*/
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virtual void setProjectionAngularTolerance(PxReal tolerance) = 0;
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/**
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\brief Get the angular tolerance threshold for projection.
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@see getProjectionAngularTolerance()
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*/
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virtual PxReal getProjectionAngularTolerance() const = 0;
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/**
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\brief Returns string name of PxPrismaticJoint, used for serialization
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*/
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virtual const char* getConcreteTypeName() const { return "PxPrismaticJoint"; }
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protected:
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//serialization
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/**
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\brief Constructor
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*/
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PX_INLINE PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
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/**
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\brief Deserialization constructor
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*/
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PX_INLINE PxPrismaticJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
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/**
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\brief Returns whether a given type name matches with the type of this instance
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*/
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxPrismaticJoint", name) || PxJoint::isKindOf(name); }
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//~serialization
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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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