270 lines
7.9 KiB
C++
270 lines
7.9 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_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
|