PxJoint.h

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// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_JOINT_H
#define PX_JOINT_H
#include "foundation/PxTransform.h"
#include "PxRigidActor.h"
#include "PxConstraint.h"
#include "common/PxBase.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxRigidActor;
class PxScene;
class PxPhysics;
class PxConstraint;
 
struct PxJointConcreteType
{
    enum Enum
    {
        eSPHERICAL = PxConcreteType::eFIRST_PHYSX_EXTENSION,
        eREVOLUTE,
        ePRISMATIC,
        eFIXED,
        eDISTANCE,
        eD6,
        eCONTACT,
        eGEAR,
        eRACK_AND_PINION,
        eLast
    };
};
 
PX_DEFINE_TYPEINFO(PxJoint,                 PxConcreteType::eUNDEFINED)
PX_DEFINE_TYPEINFO(PxRackAndPinionJoint,    PxJointConcreteType::eRACK_AND_PINION)
PX_DEFINE_TYPEINFO(PxGearJoint,             PxJointConcreteType::eGEAR)
PX_DEFINE_TYPEINFO(PxD6Joint,               PxJointConcreteType::eD6)
PX_DEFINE_TYPEINFO(PxDistanceJoint,         PxJointConcreteType::eDISTANCE)
PX_DEFINE_TYPEINFO(PxContactJoint,          PxJointConcreteType::eCONTACT)
PX_DEFINE_TYPEINFO(PxFixedJoint,            PxJointConcreteType::eFIXED)
PX_DEFINE_TYPEINFO(PxPrismaticJoint,        PxJointConcreteType::ePRISMATIC)
PX_DEFINE_TYPEINFO(PxRevoluteJoint,         PxJointConcreteType::eREVOLUTE)
PX_DEFINE_TYPEINFO(PxSphericalJoint,        PxJointConcreteType::eSPHERICAL)
 
 
 
struct PxJointActorIndex
{
    enum Enum
    {
        eACTOR0,
        eACTOR1,
        COUNT
    };
};
 
class PxJoint : public PxBase
{
//= 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:
 
    virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)   = 0;
 
    virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;
 
    virtual void                setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;
 
    virtual PxTransform         getLocalPose(PxJointActorIndex::Enum actor) const = 0;
 
    virtual PxTransform         getRelativeTransform()  const   = 0;
 
    virtual PxVec3              getRelativeLinearVelocity() const   = 0;
 
    virtual PxVec3              getRelativeAngularVelocity()    const   = 0;
 
    virtual void                setBreakForce(PxReal force, PxReal torque)  = 0;
 
    virtual void                getBreakForce(PxReal& force, PxReal& torque)    const   = 0;
 
    virtual void                setConstraintFlags(PxConstraintFlags flags) = 0;
 
    virtual void                setConstraintFlag(PxConstraintFlag::Enum flag, bool value)  = 0;
 
    virtual PxConstraintFlags   getConstraintFlags()    const   = 0;
 
    virtual void                setInvMassScale0(PxReal invMassScale)   = 0;
 
    virtual PxReal              getInvMassScale0()  const   = 0;
 
    virtual void                setInvInertiaScale0(PxReal invInertiaScale) = 0;
 
    virtual PxReal              getInvInertiaScale0()   const   = 0;
 
    virtual void                setInvMassScale1(PxReal invMassScale)   = 0;
 
    virtual PxReal              getInvMassScale1()  const   = 0;
 
    virtual void                setInvInertiaScale1(PxReal invInertiaScale) = 0;
 
    virtual PxReal              getInvInertiaScale1()   const   = 0;
 
    virtual PxConstraint*       getConstraint() const   = 0;
 
    virtual void                setName(const char* name)   = 0;
 
    virtual const char*         getName()   const   = 0;
 
    virtual void                release()   = 0;
 
    virtual PxScene*            getScene()  const   = 0;
 
    void*                       userData;   
 
    //serialization
 
    static  void                getBinaryMetaData(PxOutputStream& stream);
 
    //~serialization
                    
protected:
    virtual                     ~PxJoint() {}
 
    //serialization
 
    PX_INLINE                   PxJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
    
    PX_INLINE                   PxJoint(PxBaseFlags baseFlags)  : PxBase(baseFlags) {}
 
    virtual bool                isKindOf(const char* name) const { return !::strcmp("PxJoint", name) || PxBase::isKindOf(name); }
 
    //~serialization
};
 
class PxSpring
{
//= 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  stiffness;  
    PxReal  damping;    
 
    PxSpring(PxReal stiffness_, PxReal damping_): stiffness(stiffness_), damping(damping_) {}
};
 
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);
 
#endif