ScArticulationJointCore.h

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#ifndef SC_ARTICULATION_JOINT_CORE_H
#define SC_ARTICULATION_JOINT_CORE_H
 
#include "foundation/PxTransform.h"
#include "common/PxMetaData.h"
#include "foundation/PxUserAllocated.h"
#include "DyVArticulation.h"
 
namespace physx
{
namespace Sc
{
    class BodyCore;
    class ArticulationJointSim;
    class ArticulationCore;
 
    class ArticulationJointDesc
    {
    public:
        BodyCore*   parent;
        BodyCore*   child;
        PxTransform parentPose;
        PxTransform childPose;
    };
 
    class ArticulationJointCore : public PxUserAllocated
    {
    //= 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
                                                            ArticulationJointCore(const PxEMPTY) : mCore(PxEmpty), mSim(NULL) {}
                        void                                preExportDataReset() { mCore.jointDirtyFlag = Dy::ArticulationJointCoreDirtyFlag::eALL; }
        static          void                                getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
                                                            ArticulationJointCore(const PxTransform& parentFrame, const PxTransform& childFrame);
                                                            ~ArticulationJointCore();
 
        //Those methods are not allowed while the articulation are in the scene                                         
        PX_FORCE_INLINE const PxTransform&                  getParentPose() const { return mCore.parentPose; }
                        void                                setParentPose(const PxTransform&);
 
        PX_FORCE_INLINE const PxTransform&                  getChildPose() const { return mCore.childPose; }
                        void                                setChildPose(const PxTransform&);
 
        //Those functions doesn't change the articulation configuration so the application is allowed to change those value in run-time
        PX_FORCE_INLINE PxArticulationLimit                 getLimit(PxArticulationAxis::Enum axis)     const   { return mCore.limits[axis];    }
                        void                                setLimit(PxArticulationAxis::Enum axis, const PxArticulationLimit& limit);
 
        PX_FORCE_INLINE PxArticulationDrive                 getDrive(PxArticulationAxis::Enum axis)     const   { return mCore.drives[axis];    }
                        void                                setDrive(PxArticulationAxis::Enum axis, const PxArticulationDrive& drive);
 
                        void                                setTargetP(PxArticulationAxis::Enum axis, PxReal targetP);
        PX_FORCE_INLINE PxReal                              getTargetP(PxArticulationAxis::Enum axis)   const   { return mCore.targetP[axis];   }
 
                        void                                setTargetV(PxArticulationAxis::Enum axis, PxReal targetV);
        PX_FORCE_INLINE PxReal                              getTargetV(PxArticulationAxis::Enum axis)   const   { return mCore.targetV[axis];   }
 
                        void                                setArmature(PxArticulationAxis::Enum axis, PxReal armature);
        PX_FORCE_INLINE PxReal                              getArmature(PxArticulationAxis::Enum axis)  const   { return mCore.armature[axis];  }
 
                        void                                setJointPosition(PxArticulationAxis::Enum axis, const PxReal jointPos);
                        PxReal                              getJointPosition(PxArticulationAxis::Enum axis) const;
 
                        void                                setJointVelocity(PxArticulationAxis::Enum axis, const PxReal jointVel);
                        PxReal                              getJointVelocity(PxArticulationAxis::Enum axis) const;
 
        // PT: TODO: don't we need to set ArticulationJointCoreDirtyFlag::eMOTION here?
        PX_FORCE_INLINE void                                setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) { mCore.motion[axis] = PxU8(motion);                        }
        PX_FORCE_INLINE PxArticulationMotion::Enum          getMotion(PxArticulationAxis::Enum axis)                            const   { return PxArticulationMotion::Enum(mCore.motion[axis]);    }
 
        PX_FORCE_INLINE void                                setJointType(PxArticulationJointType::Enum type)    { mCore.initJointType(type);                                }
        PX_FORCE_INLINE PxArticulationJointType::Enum       getJointType()                              const   { return PxArticulationJointType::Enum(mCore.jointType);    }
                        
        PX_FORCE_INLINE void                                setFrictionCoefficient(const PxReal coefficient)    { mCore.initFrictionCoefficient(coefficient);   }
        PX_FORCE_INLINE PxReal                              getFrictionCoefficient()                    const   { return mCore.frictionCoefficient;             }
 
        PX_FORCE_INLINE void                                setMaxJointVelocity(const PxReal maxJointV)         { mCore.initMaxJointVelocity(maxJointV);        }
        PX_FORCE_INLINE PxReal                              getMaxJointVelocity()                       const   { return mCore.maxJointVelocity;                }
 
        PX_FORCE_INLINE ArticulationJointSim*                   getSim()                                    const   { return mSim;  }
        PX_FORCE_INLINE void                                    setSim(ArticulationJointSim* sim)
                                                                {
                                                                    PX_ASSERT((sim==0) ^ (mSim == 0));
                                                                    mSim = sim;
                                                                }
 
        PX_FORCE_INLINE Dy::ArticulationJointCore&              getCore()                                           { return mCore;                 }
 
        PX_FORCE_INLINE void                                    setArticulation(ArticulationCore* articulation)     { mArticulation = articulation; }
        PX_FORCE_INLINE const ArticulationCore*                 getArticulation()                           const   { return mArticulation;         }
 
        PX_FORCE_INLINE void                                    setRoot(PxArticulationJointReducedCoordinate* base) { mRootType = base;             }
        PX_FORCE_INLINE PxArticulationJointReducedCoordinate*   getRoot()                                   const   { return mRootType;             }
 
        PX_FORCE_INLINE void                                    setLLIndex(const PxU32 llLinkIndex)                 { mLLLinkIndex = llLinkIndex;   }
    private:
                        void                                    setSimDirty();
        PX_FORCE_INLINE void                                    setDirty(Dy::ArticulationJointCoreDirtyFlag::Enum dirtyFlag)
                                                                {
                                                                    mCore.jointDirtyFlag |= dirtyFlag;
                                                                    setSimDirty();
                                                                }
 
                        Dy::ArticulationJointCore               mCore;
                        ArticulationJointSim*                   mSim;
                        ArticulationCore*                       mArticulation;
                        PxArticulationJointReducedCoordinate*   mRootType;
                        PxU32                                   mLLLinkIndex;
#if PX_P64_FAMILY
                        PxU32                                   pad;
#endif
    };
 
} // namespace Sc
 
}
 
#endif