ExtSphericalJoint.h

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#ifndef EXT_SPHERICAL_JOINT_H
#define EXT_SPHERICAL_JOINT_H
 
#include "extensions/PxSphericalJoint.h"
 
#include "ExtJoint.h"
#include "CmUtils.h"
 
namespace physx
{
struct PxSphericalJointGeneratedValues;
namespace Ext
{
    struct SphericalJointData: 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.
    //==================================================================================================
        PxJointLimitCone        limit;
 
        PxReal                  projectionLinearTolerance;
 
        PxSphericalJointFlags   jointFlags;
    private:
        SphericalJointData(const PxJointLimitCone& cone) : limit(cone)  {}
    };
    
    typedef JointT<PxSphericalJoint, SphericalJointData, PxSphericalJointGeneratedValues> SphericalJointT;
   
    class SphericalJoint : public SphericalJointT
    {
    //= 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
                                        SphericalJoint(PxBaseFlags baseFlags) : SphericalJointT(baseFlags) {}
                void                    resolveReferences(PxDeserializationContext& context);
        static  SphericalJoint*         createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<SphericalJoint>(address, context);   }
        static  void                    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                        SphericalJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
        // PxSphericalJoint
        virtual void                    setLimitCone(const PxJointLimitCone &limit) PX_OVERRIDE;
        virtual PxJointLimitCone        getLimitCone() const    PX_OVERRIDE;
        virtual void                    setSphericalJointFlags(PxSphericalJointFlags flags) PX_OVERRIDE;
        virtual void                    setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value)  PX_OVERRIDE;
        virtual PxSphericalJointFlags   getSphericalJointFlags(void) const  PX_OVERRIDE;
        virtual void                    setProjectionLinearTolerance(PxReal distance)   PX_OVERRIDE;
        virtual PxReal                  getProjectionLinearTolerance() const    PX_OVERRIDE;
        virtual PxReal                  getSwingYAngle() const  PX_OVERRIDE;
        virtual PxReal                  getSwingZAngle() const  PX_OVERRIDE;
        //~PxSphericalJoint
 
        // 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