ExtD6Joint.h

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#ifndef EXT_D6_JOINT_H
#define EXT_D6_JOINT_H
 
#include "extensions/PxD6Joint.h"
 
#include "ExtJoint.h"
 
namespace physx
{
struct PxD6JointGeneratedValues;
namespace Ext
{
    struct D6JointData : public JointData
    {
    //= ATTENTION! =====================================================================================
    // Changing the data layout of this class breaks the binary serialization format.  See comments for 
    // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
    // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
    // accordingly.
    //==================================================================================================
 
        PxD6Motion::Enum        motion[6]; 
        PxJointLinearLimit      distanceLimit;
        PxJointLinearLimitPair  linearLimitX;
        PxJointLinearLimitPair  linearLimitY;
        PxJointLinearLimitPair  linearLimitZ;
        PxJointAngularLimitPair twistLimit;
        PxJointLimitCone        swingLimit;
        PxJointLimitPyramid     pyramidSwingLimit;
 
        PxD6JointDrive          drive[PxD6Drive::eCOUNT];
 
        PxTransform             drivePosition;
        PxVec3                  driveLinearVelocity;
        PxVec3                  driveAngularVelocity;
 
        // derived quantities
 
        PxU32                   locked;     // bitmap of locked DOFs
        PxU32                   limited;    // bitmap of limited DOFs
        PxU32                   driving;    // bitmap of active drives (implies driven DOFs not locked)
 
        PxReal                  distanceMinDist;    // distance limit minimum distance to get a good direction
 
        // projection quantities
        PxReal                  projectionLinearTolerance;
        PxReal                  projectionAngularTolerance;
 
        // PT: the PxD6Motion values are now shared for both kind of linear limits, so we need
        // an extra bool to know which one(s) should be actually used.
        bool                    mUseDistanceLimit;
        bool                    mUseNewLinearLimits;
 
        // PT: the swing limits can now be a cone or a pyramid, so we need
        // an extra bool to know which one(s) should be actually used.
        bool                    mUseConeLimit;
        bool                    mUsePyramidLimits;
 
    private:
        D6JointData(const PxJointLinearLimit& distance,
                    const PxJointLinearLimitPair& linearX,
                    const PxJointLinearLimitPair& linearY,
                    const PxJointLinearLimitPair& linearZ,
                    const PxJointAngularLimitPair& twist,
                    const PxJointLimitCone& swing,
                    const PxJointLimitPyramid& pyramid) :
        distanceLimit       (distance),
        linearLimitX        (linearX),
        linearLimitY        (linearY),
        linearLimitZ        (linearZ),
        twistLimit          (twist),
        swingLimit          (swing),
        pyramidSwingLimit   (pyramid),
        mUseDistanceLimit   (false),
        mUseNewLinearLimits (false),
        mUseConeLimit       (false),
        mUsePyramidLimits   (false)
        {}
    };
 
    typedef JointT<PxD6Joint, D6JointData, PxD6JointGeneratedValues> D6JointT;
    
    class D6Joint : public D6JointT
    {
    public:
// PX_SERIALIZATION
                                        D6Joint(PxBaseFlags baseFlags) : D6JointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  D6Joint*                createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<D6Joint>(address, context);  }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        D6Joint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxD6Joint
        virtual void                    setMotion(PxD6Axis::Enum index, PxD6Motion::Enum t) PX_OVERRIDE;
        virtual PxD6Motion::Enum        getMotion(PxD6Axis::Enum index) const   PX_OVERRIDE;
        virtual PxReal                  getTwistAngle()     const   PX_OVERRIDE;
        virtual PxReal                  getSwingYAngle()    const   PX_OVERRIDE;
        virtual PxReal                  getSwingZAngle()    const   PX_OVERRIDE;
        virtual void                    setDistanceLimit(const PxJointLinearLimit& l)   PX_OVERRIDE;
        virtual PxJointLinearLimit      getDistanceLimit()  const   PX_OVERRIDE;
        virtual void                    setLinearLimit(PxD6Axis::Enum axis, const PxJointLinearLimitPair& limit)    PX_OVERRIDE;
        virtual PxJointLinearLimitPair  getLinearLimit(PxD6Axis::Enum axis) const   PX_OVERRIDE;
        virtual void                    setTwistLimit(const PxJointAngularLimitPair& l) PX_OVERRIDE;
        virtual PxJointAngularLimitPair getTwistLimit() const   PX_OVERRIDE;
        virtual void                    setSwingLimit(const PxJointLimitCone& l)    PX_OVERRIDE;
        virtual PxJointLimitCone        getSwingLimit() const   PX_OVERRIDE;
        virtual void                    setPyramidSwingLimit(const PxJointLimitPyramid& limit)  PX_OVERRIDE;
        virtual PxJointLimitPyramid     getPyramidSwingLimit()  const   PX_OVERRIDE;
        virtual void                    setDrive(PxD6Drive::Enum index, const PxD6JointDrive& d)    PX_OVERRIDE;
        virtual PxD6JointDrive          getDrive(PxD6Drive::Enum index) const   PX_OVERRIDE;
        virtual void                    setDrivePosition(const PxTransform& pose, bool autowake = true) PX_OVERRIDE;
        virtual PxTransform             getDrivePosition()  const   PX_OVERRIDE;
        virtual void                    setDriveVelocity(const PxVec3& linear, const PxVec3& angular, bool autowake = true) PX_OVERRIDE;
        virtual void                    getDriveVelocity(PxVec3& linear, PxVec3& angular)   const   PX_OVERRIDE;                        
        virtual void                    setProjectionLinearTolerance(PxReal tolerance)  PX_OVERRIDE;
        virtual PxReal                  getProjectionLinearTolerance()  const   PX_OVERRIDE;
        virtual void                    setProjectionAngularTolerance(PxReal tolerance) PX_OVERRIDE;
        virtual PxReal                  getProjectionAngularTolerance() const   PX_OVERRIDE;
        //~PxD6Joint
 
        // PxConstraintConnector
        virtual PxConstraintSolverPrep  getPrep()   const   PX_OVERRIDE;
        virtual void*                   prepareData()   PX_OVERRIDE;
#if PX_SUPPORT_OMNI_PVD
        virtual void updateOmniPvdProperties() const PX_OVERRIDE;
#endif
        //~PxConstraintConnector
 
    private:
        bool active(const PxD6Drive::Enum index) const
        {
            const PxD6JointDrive& d = data().drive[index];
            return d.stiffness!=0 || d.damping != 0;
        }
 
        bool    mRecomputeMotion;
        bool    mPadding[3];    // PT: padding from prev bool
    };
 
} // namespace Ext
 
} // namespace physx
 
#endif