ExtRackAndPinionJoint.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef EXT_RACK_AND_PINION_JOINT_H
#define EXT_RACK_AND_PINION_JOINT_H
 
#include "extensions/PxRackAndPinionJoint.h"
#include "ExtJoint.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxRackAndPinionJointGeneratedValues;
namespace Ext
{
    struct RackAndPinionJointData : public JointData
    {
        const PxBase*   hingeJoint;
        const PxBase*   prismaticJoint;
        float           ratio;
        float           px;
        float           vangle;
    };
 
    typedef JointT<PxRackAndPinionJoint, RackAndPinionJointData, PxRackAndPinionJointGeneratedValues> RackAndPinionJointT;
 
    class RackAndPinionJoint : public RackAndPinionJointT
    {
    public:
// PX_SERIALIZATION
                                        RackAndPinionJoint(PxBaseFlags baseFlags) : RackAndPinionJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  RackAndPinionJoint*     createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<RackAndPinionJoint>(address, context);   }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        RackAndPinionJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxRackAndPinionJoint
        virtual bool                    setJoints(const PxBase* hinge, const PxBase* prismatic) PX_OVERRIDE;
        virtual void                    setRatio(float ratio)   PX_OVERRIDE;
        virtual float                   getRatio()  const   PX_OVERRIDE;
        virtual bool                    setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength)   PX_OVERRIDE;
        //~PxRackAndPinionJoint
 
        // PxConstraintConnector
        virtual void*                   prepareData()   PX_OVERRIDE
                                        {
                                            updateError();
                                            return mData;
                                        }
        virtual PxConstraintSolverPrep  getPrep()   const   PX_OVERRIDE;
        //~PxConstraintConnector
 
    private:
                float                   mVirtualAngle0;
                float                   mPersistentAngle0;
                bool                    mInitDone;
 
                void                    updateError();
                void                    resetError();
    };
} // namespace Ext
 
}
 
#endif