ExtPrismaticJoint.h

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#ifndef EXT_PRISMATIC_JOINT_H
#define EXT_PRISMATIC_JOINT_H
 
#include "common/PxTolerancesScale.h"
#include "extensions/PxPrismaticJoint.h"
 
#include "ExtJoint.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxPrismaticJointGeneratedValues;
namespace Ext
{
    struct PrismaticJointData : 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.
    //==================================================================================================
 
        PxJointLinearLimitPair  limit;
        PxReal                  projectionLinearTolerance;
        PxReal                  projectionAngularTolerance;
 
        PxPrismaticJointFlags   jointFlags;
 
    private:
        PrismaticJointData(const PxJointLinearLimitPair& pair) : limit(pair)    {}
    };
 
    typedef JointT<PxPrismaticJoint, PrismaticJointData, PxPrismaticJointGeneratedValues> PrismaticJointT;
   
    class PrismaticJoint : public PrismaticJointT
    {
    //= 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.
    //==================================================================================================
    public:
// PX_SERIALIZATION
                                        PrismaticJoint(PxBaseFlags baseFlags) : PrismaticJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  PrismaticJoint*         createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<PrismaticJoint>(address, context);   }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        PrismaticJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxPrismaticJoint
        virtual PxReal                  getPosition()   const   PX_OVERRIDE {   return getRelativeTransform().p.x;      }
        virtual PxReal                  getVelocity()   const   PX_OVERRIDE {   return getRelativeLinearVelocity().x;   }
        virtual void                    setLimit(const PxJointLinearLimitPair& limit)   PX_OVERRIDE;
        virtual PxJointLinearLimitPair  getLimit()  const   PX_OVERRIDE;
        virtual void                    setPrismaticJointFlags(PxPrismaticJointFlags flags) PX_OVERRIDE;
        virtual void                    setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value)  PX_OVERRIDE;
        virtual PxPrismaticJointFlags   getPrismaticJointFlags()    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;
        //~PxPrismaticJoint
 
        // PxConstraintConnector
        virtual PxConstraintSolverPrep  getPrep()   const   PX_OVERRIDE;
#if PX_SUPPORT_OMNI_PVD
        virtual void updateOmniPvdProperties() const PX_OVERRIDE;
#endif
        //~PxConstraintConnector
    };
} // namespace Ext
 
} // namespace physx
 
#endif