PxArticulationJointReducedCoordinate.h

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#ifndef PX_ARTICULATION_JOINT_RC_H
#define PX_ARTICULATION_JOINT_RC_H
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
#include "solver/PxSolverDefs.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
    class PxArticulationJointReducedCoordinate : public PxBase
    {
    public:
 
        virtual     PxArticulationLink& getParentArticulationLink() const = 0;
 
        virtual     void                setParentPose(const PxTransform& pose) = 0;
 
        virtual     PxTransform         getParentPose() const = 0;
 
        virtual     PxArticulationLink& getChildArticulationLink() const = 0;
 
        virtual     void                setChildPose(const PxTransform& pose) = 0;
 
        virtual     PxTransform         getChildPose() const = 0;
 
        virtual     void                setJointType(PxArticulationJointType::Enum jointType) = 0;
        
        virtual     PxArticulationJointType::Enum   getJointType() const = 0;
 
        virtual     void                setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;
 
        virtual     PxArticulationMotion::Enum  getMotion(PxArticulationAxis::Enum axis) const = 0;
 
        PX_DEPRECATED PX_FORCE_INLINE void  setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit)
        {
            setLimitParams(axis, PxArticulationLimit(lowLimit, highLimit));
        }
 
        PX_DEPRECATED PX_FORCE_INLINE void  getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit) const
        {
            PxArticulationLimit pair = getLimitParams(axis);
            lowLimit = pair.low;
            highLimit = pair.high;
        }
 
        virtual     void                setLimitParams(PxArticulationAxis::Enum axis, const PxArticulationLimit& limit) = 0;
 
        virtual     PxArticulationLimit getLimitParams(PxArticulationAxis::Enum axis) const = 0;
 
        PX_DEPRECATED PX_FORCE_INLINE void              setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType = PxArticulationDriveType::eFORCE)
        {
            setDriveParams(axis, PxArticulationDrive(stiffness, damping, maxForce, driveType));
        }
 
        PX_DEPRECATED PX_FORCE_INLINE void          getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) const
        {
            PxArticulationDrive drive = getDriveParams(axis);
            stiffness = drive.stiffness;
            damping = drive.damping;
            maxForce = drive.maxForce;
            driveType = drive.driveType;
        }
 
        virtual     void                setDriveParams(PxArticulationAxis::Enum axis, const PxArticulationDrive& drive) = 0;
 
        virtual     PxArticulationDrive getDriveParams(PxArticulationAxis::Enum axis) const = 0;
        
        virtual     void                setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target, bool autowake = true) = 0;
 
        virtual     PxReal              getDriveTarget(PxArticulationAxis::Enum axis) const = 0;
        
        virtual     void                setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel, bool autowake = true) = 0;
 
        virtual     PxReal              getDriveVelocity(PxArticulationAxis::Enum axis) const = 0;
        
        virtual     void                setArmature(PxArticulationAxis::Enum axis, const PxReal armature) = 0;
 
        virtual     PxReal              getArmature(PxArticulationAxis::Enum axis) const = 0;
 
        virtual     void                setFrictionCoefficient(const PxReal coefficient) = 0;
 
        virtual     PxReal              getFrictionCoefficient() const = 0;
 
        virtual     void                setMaxJointVelocity(const PxReal maxJointV) = 0;
 
        virtual     PxReal              getMaxJointVelocity() const = 0;
 
        virtual     void                setJointPosition(PxArticulationAxis::Enum axis, const PxReal jointPos) = 0;
 
        virtual     PxReal              getJointPosition(PxArticulationAxis::Enum axis) const = 0;
 
        virtual     void                setJointVelocity(PxArticulationAxis::Enum axis, const PxReal jointVel) = 0;
 
        virtual     PxReal              getJointVelocity(PxArticulationAxis::Enum axis) const = 0;
 
        virtual const char*                     getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }
 
        virtual                                 ~PxArticulationJointReducedCoordinate() {}
 
        //public variables:
        void*                                   userData;   
 
    protected:
        PX_INLINE                               PxArticulationJointReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
        PX_INLINE                               PxArticulationJointReducedCoordinate(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
        
        virtual bool                            isKindOf(const char* name)  const { return !::strcmp("PxArticulationJointReducedCoordinate", name) || PxBase::isKindOf(name); }
    };
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif