ExtContactJoint.h

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#ifndef EXT_CONTACT_JOINT_H
#define EXT_CONTACT_JOINT_H
 
#include "common/PxTolerancesScale.h"
#include "extensions/PxContactJoint.h"
 
#include "ExtJoint.h"
#include "foundation/PxUserAllocated.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxContactJointGeneratedValues;
namespace Ext
{
    struct ContactJointData : public JointData
    {
        PxVec3  contact;
        PxVec3  normal;
        PxReal  penetration;
        PxReal  restitution;
        PxReal  bounceThreshold;
    };
 
    typedef JointT<PxContactJoint, ContactJointData, PxContactJointGeneratedValues> ContactJointT;
    class ContactJoint : public ContactJointT
    {
    public:
        // PX_SERIALIZATION
                                        ContactJoint(PxBaseFlags baseFlags) : ContactJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  ContactJoint*           createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<ContactJoint>(address, context); }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
        //~PX_SERIALIZATION
                                        ContactJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxContactJoint
        virtual PxVec3                  getContact()    const   PX_OVERRIDE;
        virtual void                    setContact(const PxVec3& contact)   PX_OVERRIDE;
        virtual PxVec3                  getContactNormal()  const   PX_OVERRIDE;
        virtual void                    setContactNormal(const PxVec3& normal)  PX_OVERRIDE;
        virtual PxReal                  getPenetration()    const   PX_OVERRIDE;
        virtual void                    setPenetration(const PxReal penetration)    PX_OVERRIDE;
        virtual PxReal                  getRestitution()    const   PX_OVERRIDE;
        virtual void                    setRestitution(const PxReal resititution)   PX_OVERRIDE;
        virtual PxReal                  getBounceThreshold()    const   PX_OVERRIDE;
        virtual void                    setBounceThreshold(const PxReal bounceThreshold)    PX_OVERRIDE;
        virtual void                    computeJacobians(PxJacobianRow* jacobian)   const   PX_OVERRIDE;
        virtual PxU32                   getNbJacobianRows() const   PX_OVERRIDE;
        //~PxContactJoint
 
        // PxConstraintConnector
        virtual PxConstraintSolverPrep  getPrep()   const   PX_OVERRIDE;
        //~PxConstraintConnector
    };
 
} // namespace Ext
 
} // namespace physx
#endif