333 lines
10 KiB
C
333 lines
10 KiB
C
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//
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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_REVOLUTEJOINT_H
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#define PX_REVOLUTEJOINT_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 PxRevoluteJoint;
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/**
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\brief Create a revolute 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 PxRevoluteJoint
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*/
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PxRevoluteJoint* PxRevoluteJointCreate(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 Revolute Joint.
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@see PxRevoluteJoint
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*/
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struct PxRevoluteJointFlag
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{
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enum Enum
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{
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eLIMIT_ENABLED = 1<<0, //!< enable the limit
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eDRIVE_ENABLED = 1<<1, //!< enable the drive
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eDRIVE_FREESPIN = 1<<2 //!< if the existing velocity is beyond the drive velocity, do not add force
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};
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};
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typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
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PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)
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/**
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\brief A joint which behaves in a similar way to a hinge or axle.
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A hinge joint removes all but a single rotational degree of freedom from two objects.
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The axis along which the two bodies may rotate is specified with a point and a direction
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vector.
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The position of the hinge on each body is specified by the origin of the body's joint frame.
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The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.
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\image html revoluteJoint.png
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A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors.
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It may also be given a limit, to restrict the revolute motion to within a certain range. In
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addition, the bodies may be projected together if the distance or angle between them exceeds
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a given threshold.
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Projection, drive and limits are activated by setting the appropriate flags on the joint.
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@see PxRevoluteJointCreate() PxJoint
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*/
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class PxRevoluteJoint : public PxJoint
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{
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public:
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/**
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\brief return the angle of the joint, in the range (-2*Pi, 2*Pi]
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*/
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virtual PxReal getAngle() const = 0;
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/**
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\brief return the velocity of the joint
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*/
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virtual PxReal getVelocity() const = 0;
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/**
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\brief set the joint limit parameters.
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The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED
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The limit angle range is (-2*Pi, 2*Pi).
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\param[in] limits The joint limit parameters.
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@see PxJointAngularLimitPair getLimit()
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*/
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virtual void setLimit(const PxJointAngularLimitPair& limits) = 0;
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/**
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\brief get the joint limit parameters.
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\return the joint limit parameters
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@see PxJointAngularLimitPair setLimit()
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*/
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virtual PxJointAngularLimitPair getLimit() const = 0;
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/**
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\brief set the target velocity for the drive model.
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The motor will only be able to reach this velocity if the maxForce is sufficiently large.
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If the joint is spinning faster than this velocity, the motor will actually try to brake
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(see PxRevoluteJointFlag::eDRIVE_FREESPIN.)
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If you set this to infinity then the motor will keep speeding up, unless there is some sort
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of resistance on the attached bodies. The sign of this variable determines the rotation direction,
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with positive values going the same way as positive joint angles.
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\param[in] velocity the drive target velocity
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\param[in] autowake Whether to wake the joint rigids up if it is asleep.
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<b>Range:</b> [0, PX_MAX_F32)<br>
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<b>Default:</b> 0.0
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@see PxRevoluteFlags::eDRIVE_FREESPIN
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*/
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virtual void setDriveVelocity(PxReal velocity, bool autowake = true) = 0;
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/**
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\brief gets the target velocity for the drive model.
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\return the drive target velocity
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@see setDriveVelocity()
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*/
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virtual PxReal getDriveVelocity() const = 0;
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/**
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\brief sets the maximum torque the drive can exert.
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Setting this to a very large value if velTarget is also very large may cause unexpected results.
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The value set here may be used either as an impulse limit or a force limit, depending on the flag PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES
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<b>Range:</b> [0, PX_MAX_F32)<br>
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<b>Default:</b> PX_MAX_F32
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@see setDriveVelocity()
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*/
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virtual void setDriveForceLimit(PxReal limit) = 0;
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/**
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\brief gets the maximum torque the drive can exert.
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\return the torque limit
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@see setDriveVelocity()
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*/
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virtual PxReal getDriveForceLimit() const = 0;
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/**
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\brief sets the gear ratio for the drive.
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When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down.
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So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio
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<b>Range:</b> [0, PX_MAX_F32)<br>
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<b>Default:</b> 1.0
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\param[in] ratio the drive gear ratio
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@see getDriveGearRatio()
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*/
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virtual void setDriveGearRatio(PxReal ratio) = 0;
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/**
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\brief gets the gear ratio.
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\return the drive gear ratio
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@see setDriveGearRatio()
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*/
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virtual PxReal getDriveGearRatio() const = 0;
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/**
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\brief sets the flags specific to the Revolute Joint.
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<b>Default</b> PxRevoluteJointFlags(0)
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\param[in] flags The joint flags.
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@see PxRevoluteJointFlag setFlag() getFlags()
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*/
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virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
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/**
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\brief sets a single flag specific to a Revolute Joint.
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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 PxRevoluteJointFlag, getFlags() setFlags()
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*/
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virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
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/**
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\brief gets the flags specific to the Revolute Joint.
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\return the joint flags
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@see PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()
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*/
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virtual PxRevoluteJointFlags getRevoluteJointFlags() const = 0;
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/**
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\brief Set the linear 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> 1e10f
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\param[in] tolerance the linear tolerance threshold
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@see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION
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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
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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
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PxConstraintFlag::ePROJECTION is set for the joint.
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If the joint deviates by more than this angle around its locked angular degrees of freedom,
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the solver will move the bodies to close the angle.
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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,Pi] <br>
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<b>Default:</b> Pi
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\param[in] tolerance the angular tolerance threshold in radians
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@see getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION
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*/
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virtual void setProjectionAngularTolerance(PxReal tolerance) = 0;
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/**
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\brief gets the angular tolerance threshold for projection.
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\return the angular tolerance threshold in radians
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@see setProjectionAngularTolerance()
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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 PxRevoluteJoint, used for serialization
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*/
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virtual const char* getConcreteTypeName() const { return "PxRevoluteJoint"; }
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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 PxRevoluteJoint(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 PxRevoluteJoint(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("PxRevoluteJoint", 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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