ExtRevoluteJoint.h

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#ifndef EXT_REVOLUTE_JOINT_H
#define EXT_REVOLUTE_JOINT_H
 
#include "extensions/PxRevoluteJoint.h"
 
#include "ExtJoint.h"
#include "foundation/PxIntrinsics.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxRevoluteJointGeneratedValues;
 
namespace Ext
{
    struct RevoluteJointData : 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.
    //==================================================================================================
 
        PxReal                  driveVelocity;
        PxReal                  driveForceLimit;
        PxReal                  driveGearRatio;
 
        PxJointAngularLimitPair limit;
                            
        PxReal                  projectionLinearTolerance;
        PxReal                  projectionAngularTolerance;
                            
        PxRevoluteJointFlags    jointFlags;
    private:
        RevoluteJointData(const PxJointAngularLimitPair& pair) : limit(pair)    {}
    };
 
    typedef JointT<PxRevoluteJoint, RevoluteJointData, PxRevoluteJointGeneratedValues> RevoluteJointT;
    
    class RevoluteJoint : public RevoluteJointT
    {
    //= 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
                                        RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  RevoluteJoint*          createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<RevoluteJoint>(address, context);    }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0,  PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxRevoluteJoint
        virtual PxReal                  getAngle() const    PX_OVERRIDE;
        virtual PxReal                  getVelocity() const PX_OVERRIDE;
        virtual void                    setLimit(const PxJointAngularLimitPair& limit)  PX_OVERRIDE;
        virtual PxJointAngularLimitPair getLimit()  const   PX_OVERRIDE;
        virtual void                    setDriveVelocity(PxReal velocity, bool autowake = true) PX_OVERRIDE;
        virtual PxReal                  getDriveVelocity() const    PX_OVERRIDE;
        virtual void                    setDriveForceLimit(PxReal forceLimit)   PX_OVERRIDE;
        virtual PxReal                  getDriveForceLimit() const  PX_OVERRIDE;
        virtual void                    setDriveGearRatio(PxReal gearRatio) PX_OVERRIDE;
        virtual PxReal                  getDriveGearRatio() const   PX_OVERRIDE;
        virtual void                    setRevoluteJointFlags(PxRevoluteJointFlags flags)   PX_OVERRIDE;
        virtual void                    setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value)    PX_OVERRIDE;
        virtual PxRevoluteJointFlags    getRevoluteJointFlags() const   PX_OVERRIDE;
        virtual void                    setProjectionLinearTolerance(PxReal distance)   PX_OVERRIDE;
        virtual PxReal                  getProjectionLinearTolerance()  const   PX_OVERRIDE;
        virtual void                    setProjectionAngularTolerance(PxReal tolerance) PX_OVERRIDE;
        virtual PxReal                  getProjectionAngularTolerance() const   PX_OVERRIDE;
        //~PxRevoluteJoint
    
        // 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