ExtGearJoint.h

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#ifndef EXT_GEAR_JOINT_H
#define EXT_GEAR_JOINT_H
 
#include "extensions/PxGearJoint.h"
#include "ExtJoint.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxGearJointGeneratedValues;
namespace Ext
{
    struct GearJointData : public JointData
    {
        const PxBase*   hingeJoint0; //either PxJoint or PxArticulationJointReducedCoordinate
        const PxBase*   hingeJoint1; //either PxJoint or PxArticulationJointReducedCoordinate
        float           gearRatio;
        float           error;
    };
 
    typedef JointT<PxGearJoint, GearJointData, PxGearJointGeneratedValues> GearJointT;
 
    class GearJoint : public GearJointT
    {
    public:
// PX_SERIALIZATION
                                        GearJoint(PxBaseFlags baseFlags) : GearJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  GearJoint*              createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<GearJoint>(address, context);    }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        GearJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxGearJoint
        virtual bool                    setHinges(const PxBase* hinge0, const PxBase* hinge1)   PX_OVERRIDE;
        virtual void                    setGearRatio(float ratio)   PX_OVERRIDE;
        virtual float                   getGearRatio()  const   PX_OVERRIDE;
        //~PxGearJoint
 
        // PxConstraintConnector
        virtual void*                   prepareData()   PX_OVERRIDE
                                        {
                                            updateError();
                                            return mData;
                                        }
        virtual PxConstraintSolverPrep  getPrep()   const   PX_OVERRIDE;
        //~PxConstraintConnector
    private:
                float                   mVirtualAngle0;
                float                   mVirtualAngle1;
                float                   mPersistentAngle0;
                float                   mPersistentAngle1;
                bool                    mInitDone;
 
                void                    updateError();
                void                    resetError();
    };
} // namespace Ext
 
}
 
#endif