NpArticulationSensor.h

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#include "PxArticulationReducedCoordinate.h"
#include "foundation/PxUserAllocated.h"
#include "foundation/PxMemory.h"
#include "ScArticulationSensor.h"
#include "NpBase.h"
 
#ifndef NP_ARTICULATION_SENSOR_H
#define NP_ARTICULATION_SENSOR_H
 
namespace physx
{
 
typedef PxU32   ArticulationSensorHandle;
 
class NpArticulationSensor : public PxArticulationSensor, public NpBase
{
public:
 
// PX_SERIALIZATION
                                            NpArticulationSensor(PxBaseFlags baseFlags)
                                                    : PxArticulationSensor(baseFlags), NpBase(PxEmpty), mCore(PxEmpty) {}
                void                        preExportDataReset() {}
    virtual     void                        exportExtraData(PxSerializationContext& ) {}
                void                        importExtraData(PxDeserializationContext& ) {}
                void                        resolveReferences(PxDeserializationContext& );
    virtual     void                        requiresObjects(PxProcessPxBaseCallback&) {}
    virtual     bool                        isSubordinate()  const   { return true; } 
    static      NpArticulationSensor*       createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                        getBinaryMetaData(PxOutputStream& stream);      
//~PX_SERIALIZATION
 
    NpArticulationSensor(PxArticulationLink* link, const PxTransform& relativePose);
    virtual ~NpArticulationSensor() {}
 
    virtual void release();
    virtual PxSpatialForce getForces() const;
    virtual PxTransform getRelativePose() const;
    virtual void setRelativePose(const PxTransform&);
    virtual PxArticulationLink* getLink() const;
    virtual PxU32 getIndex() const;
    virtual PxArticulationReducedCoordinate* getArticulation() const;
    virtual PxArticulationSensorFlags getFlags() const;
    virtual void setFlag(PxArticulationSensorFlag::Enum flag, bool enabled);
 
    PX_FORCE_INLINE Sc::ArticulationSensorCore& getSensorCore() { return mCore; }
    PX_FORCE_INLINE const Sc::ArticulationSensorCore& getSensorCore() const { return mCore; }
    PX_FORCE_INLINE ArticulationSensorHandle    getHandle() { return mHandle; }
    PX_FORCE_INLINE void                        setHandle(ArticulationSensorHandle handle) { mHandle = handle; }
 
private:
    PxArticulationLink* mLink;
    Sc::ArticulationSensorCore mCore;
    ArticulationSensorHandle   mHandle;
};
}
 
#endif //NP_ARTICULATION_SENSOR_H