NpArticulationLink.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef NP_ARTICULATION_LINK_H
#define NP_ARTICULATION_LINK_H
 
#include "NpRigidBodyTemplate.h"
#include "PxArticulationLink.h"
 
#if PX_ENABLE_DEBUG_VISUALIZATION
    #include "common/PxRenderOutput.h"
#else
    PX_CATCH_UNDEFINED_ENABLE_DEBUG_VISUALIZATION
#endif
 
namespace physx
{
 
class NpArticulationLink;
class NpArticulationJointReducedCoordinate;
class PxConstraintVisualizer;
 
typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;
 
class NpArticulationLinkArray : public PxInlineArray<NpArticulationLink*, 4>  
{
//= 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
    NpArticulationLinkArray(const PxEMPTY) : PxInlineArray<NpArticulationLink*, 4> (PxEmpty) {}
    static  void    getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
    NpArticulationLinkArray() : PxInlineArray<NpArticulationLink*, 4>("articulationLinkArray") {}
};
 
class NpArticulationLink : public NpArticulationLinkT
{
//= 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
                                            NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty)    {}
                void                        preExportDataReset() { NpArticulationLinkT::preExportDataReset(); }
    virtual     void                        exportExtraData(PxSerializationContext& context);
                void                        importExtraData(PxDeserializationContext& context);
                void                        resolveReferences(PxDeserializationContext& context);
    virtual     void                        requiresObjects(PxProcessPxBaseCallback& c);
    virtual     bool                        isSubordinate()  const   { return true; } 
    static      NpArticulationLink*         createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                        getBinaryMetaData(PxOutputStream& stream);      
//~PX_SERIALIZATION
    virtual                                 ~NpArticulationLink();
 
    //---------------------------------------------------------------------------------
    // PxArticulationLink implementation
    //---------------------------------------------------------------------------------
    virtual     void                        release();
 
 
    virtual     PxActorType::Enum           getType() const { return PxActorType::eARTICULATION_LINK; }
 
    // Pose
    virtual     void                        setGlobalPose(const PxTransform& /*pose*/, bool /*wake*/) { /*return false; */}
    virtual     PxTransform                 getGlobalPose() const;
 
 
    virtual     bool                       attachShape(PxShape& shape);
    virtual     void                       detachShape(PxShape& shape, bool wakeOnLostTouch = true);
 
    virtual     PxArticulationReducedCoordinate&        getArticulation() const;
    virtual     PxArticulationJointReducedCoordinate*   getInboundJoint() const;
    virtual     PxU32                                   getInboundJointDof() const;
 
    virtual     PxU32                       getNbChildren() const;
    virtual     PxU32                       getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
    virtual     PxU32                       getLinkIndex() const;
    virtual     void                        setCMassLocalPose(const PxTransform& pose);
 
    virtual     void                        addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
    virtual     void                        addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
    virtual     void                        setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
    virtual     void                        clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
    virtual     void                        clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);
 
    virtual     void                        setCfmScale(const PxReal cfmScale);
    virtual     PxReal                      getCfmScale() const;
    //---------------------------------------------------------------------------------
    // Miscellaneous
    //---------------------------------------------------------------------------------
                                            NpArticulationLink(const PxTransform& bodyPose, PxArticulationReducedCoordinate& root, NpArticulationLink* parent);
 
                void                        releaseInternal();
 
    PX_INLINE   PxArticulationReducedCoordinate&            getRoot()           { return *mRoot; }
    PX_INLINE   NpArticulationLink*                         getParent()         { return mParent; }
    PX_INLINE   const NpArticulationLink*                   getParent() const   { return mParent; }
 
    PX_INLINE   void                        setInboundJoint(PxArticulationJointReducedCoordinate& joint) { mInboundJoint = &joint; }
            
    void                                    setGlobalPoseInternal(const PxTransform& pose, bool autowake);
    void                                    setLLIndex(const PxU32 index) { mLLIndex = index; }
    void                                    setInboundJointDof(const PxU32 index) { mInboundJointDof = index; }
    static PX_FORCE_INLINE size_t           getCoreOffset() { return PX_OFFSET_OF_RT(NpArticulationLink, mCore); }
private:
    PX_INLINE   void                        addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
    PX_INLINE   void                        removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }
 
public:
    PX_INLINE   NpArticulationLink* const*  getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
                void                        setKinematicLink(const bool value);
 
#if PX_ENABLE_DEBUG_VISUALIZATION
                void                        visualize(PxRenderOutput& out, NpScene& scene, float scale) const;
                void                        visualizeJoint(PxConstraintVisualizer& jointViz)            const;
#else
                PX_CATCH_UNDEFINED_ENABLE_DEBUG_VISUALIZATION
#endif
 
private:
                PxArticulationReducedCoordinate*        mRoot;  
                PxArticulationJointReducedCoordinate*   mInboundJoint;
                NpArticulationLink*                     mParent;  
                NpArticulationLinkArray                 mChildLinks;
                PxU32                                   mLLIndex;
                PxU32                                   mInboundJointDof;
};
 
}
 
#endif