PxJointLimit.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 PX_JOINT_LIMIT_H
#define PX_JOINT_LIMIT_H
#include "foundation/PxMath.h"
#include "common/PxTolerancesScale.h"
#include "extensions/PxJoint.h"
#include "PxPhysXConfig.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxJointLimitParameters
{
//= 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:
    PxReal restitution;
 
    PxReal bounceThreshold;
 
    PxReal stiffness;
 
    PxReal damping;
 
    PxReal contactDistance_deprecated;
 
    PxJointLimitParameters() :
        restitution     (0.0f),
        bounceThreshold (0.0f),
        stiffness       (0.0f),
        damping         (0.0f),
        contactDistance_deprecated  (0.0f)
    {
    }
    
    PxJointLimitParameters(const PxJointLimitParameters& p) :
        restitution     (p.restitution),
        bounceThreshold (p.bounceThreshold),
        stiffness       (p.stiffness),
        damping         (p.damping),
        contactDistance_deprecated  (p.contactDistance_deprecated)
    {
    }   
 
    PX_INLINE bool isValid() const
    {
        return  PxIsFinite(restitution) && restitution >= 0 && restitution <= 1 && 
                PxIsFinite(stiffness) && stiffness >= 0 && 
                PxIsFinite(damping) && damping >= 0 &&
                PxIsFinite(bounceThreshold) && bounceThreshold >= 0 &&
                PxIsFinite(contactDistance_deprecated) && contactDistance_deprecated >= 0;
    }
 
    PX_INLINE bool isSoft() const
    {
        return damping>0 || stiffness>0;
    }
 
protected:
    ~PxJointLimitParameters() {}
};
 
 
class PxJointLinearLimit : public PxJointLimitParameters
{
//= 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:
    PxReal value;
 
    PxJointLinearLimit(const PxTolerancesScale& scale, PxReal extent, PxReal contactDist_deprecated = -1.0f)
    : value(extent)
    {
        PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated == -1.0f ? 0.01f*scale.length : contactDist_deprecated;
    }
 
    PxJointLinearLimit(PxReal extent, const PxSpring& spring) : value(extent)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }
 
    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(value) && 
               value > 0.0f;
    }
};
 
 
class PxJointLinearLimitPair : public PxJointLimitParameters
{
//= 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:
    PxReal upper, lower;
 
    PxJointLinearLimitPair(const PxTolerancesScale& scale, PxReal lowerLimit = -PX_MAX_F32/3.0f, PxReal upperLimit = PX_MAX_F32/3.0f, PxReal contactDist_deprecated = -1.0f) :
        upper(upperLimit),
        lower(lowerLimit)
    {
        PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated == -1.0f ? PxMin(scale.length * 0.01f, (upperLimit*0.49f-lowerLimit*0.49f)) : contactDist_deprecated; 
        bounceThreshold = 2.0f*scale.length;
    }
 
    PxJointLinearLimitPair(PxReal lowerLimit, PxReal upperLimit, const PxSpring& spring) :
        upper(upperLimit),
        lower(lowerLimit)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }
 
    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(upper) && PxIsFinite(lower) && upper >= lower &&
               PxIsFinite(upper - lower);
    }
};
 
 
class PxJointAngularLimitPair : public PxJointLimitParameters
{
//= 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:
    PxReal upper, lower;
 
    PxJointAngularLimitPair(PxReal lowerLimit, PxReal upperLimit, PxReal contactDist_deprecated = -1.0f) :
        upper(upperLimit),
        lower(lowerLimit)
    {
        PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated ==-1.0f ? PxMin(0.1f, 0.49f*(upperLimit-lowerLimit)) : contactDist_deprecated;
        bounceThreshold = 0.5f;
    }
 
    PxJointAngularLimitPair(PxReal lowerLimit, PxReal upperLimit, const PxSpring& spring) :
        upper(upperLimit),
        lower(lowerLimit)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }
 
    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(upper) && PxIsFinite(lower) && upper >= lower;
    }
};
 
class PxJointLimitCone : public PxJointLimitParameters
{
//= 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:
    PxReal yAngle;
 
    PxReal zAngle;
 
    PxJointLimitCone(PxReal yLimitAngle, PxReal zLimitAngle, PxReal contactDist_deprecated = -1.0f) :
        yAngle(yLimitAngle),
        zAngle(zLimitAngle)
    {
        PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated == -1.0f ? PxMin(0.1f, PxMin(yLimitAngle, zLimitAngle)*0.49f) : contactDist_deprecated;
        bounceThreshold = 0.5f;
    }
 
    PxJointLimitCone(PxReal yLimitAngle, PxReal zLimitAngle, const PxSpring& spring) :
        yAngle(yLimitAngle),
        zAngle(zLimitAngle)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }
 
    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(yAngle) && yAngle>0 && yAngle<PxPi && 
               PxIsFinite(zAngle) && zAngle>0 && zAngle<PxPi;
    }
};
 
class PxJointLimitPyramid : public PxJointLimitParameters
{
//= 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:
    PxReal yAngleMin;
 
    PxReal yAngleMax;
 
    PxReal zAngleMin;
 
    PxReal zAngleMax;
 
    PxJointLimitPyramid(PxReal yLimitAngleMin, PxReal yLimitAngleMax, PxReal zLimitAngleMin, PxReal zLimitAngleMax, PxReal contactDist_deprecated = -1.0f) :
        yAngleMin(yLimitAngleMin),
        yAngleMax(yLimitAngleMax),
        zAngleMin(zLimitAngleMin),
        zAngleMax(zLimitAngleMax)
    {
        if(contactDist_deprecated == -1.0f)
        {
            const PxReal contactDistY = PxMin(0.1f, 0.49f*(yLimitAngleMax - yLimitAngleMin));
            const PxReal contactDistZ = PxMin(0.1f, 0.49f*(zLimitAngleMax - zLimitAngleMin));
            PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated == PxMin(contactDistY, contactDistZ);
        }
        else
        {
            PxJointLimitParameters::contactDistance_deprecated = contactDist_deprecated;
        }
 
        bounceThreshold = 0.5f;
    }
 
    PxJointLimitPyramid(PxReal yLimitAngleMin, PxReal yLimitAngleMax, PxReal zLimitAngleMin, PxReal zLimitAngleMax, const PxSpring& spring) :
        yAngleMin(yLimitAngleMin),
        yAngleMax(yLimitAngleMax),
        zAngleMin(zLimitAngleMin),
        zAngleMax(zLimitAngleMax)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }
 
    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
                PxIsFinite(yAngleMin) && yAngleMin>-PxPi && yAngleMin<PxPi && 
                PxIsFinite(yAngleMax) && yAngleMax>-PxPi && yAngleMax<PxPi && 
                PxIsFinite(zAngleMin) && zAngleMin>-PxPi && zAngleMin<PxPi && 
                PxIsFinite(zAngleMax) && zAngleMax>-PxPi && zAngleMax<PxPi && 
                yAngleMax>=yAngleMin && zAngleMax>=zAngleMin;
    }
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif