ScArticulationSensorSim.h

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#ifndef SC_ARTICULATION_SENSOR_SIM_H
#define SC_ARTICULATION_SENSOR_SIM_H
 
#include "foundation/PxUserAllocated.h"
#include "PxArticulationReducedCoordinate.h"
#include "DyFeatherstoneArticulation.h"
 
namespace physx
{
namespace Sc
{
class Scene;
class ArticulationSensorCore;
class ArticulationCore;
class ArticulationSim;
 
class ArticulationSensorSim : public PxUserAllocated
{
 
    PX_NOCOPY(ArticulationSensorSim)
 
    
public:
    ArticulationSensorSim(Sc::ArticulationSensorCore& core, Sc::Scene& scene);
 
    ~ArticulationSensorSim();
 
    const PxSpatialForce& getForces() const;
 
    void setRelativePose(const PxTransform& relativePose);
    void setFlag(PxU16 flag);
 
    PX_FORCE_INLINE Sc::Scene& getScene() { return mScene; }
    PX_FORCE_INLINE const Sc::Scene& getScene() const { return mScene; }
 
    PX_FORCE_INLINE void setLowLevelIndex(const PxU32 llIndex) { mLLIndex = llIndex;}
    PX_FORCE_INLINE PxU32 getLowLevelIndex() const { return mLLIndex; }
 
    
    PX_FORCE_INLINE Sc::ArticulationSensorCore& getCore() { return mCore; }
    PX_FORCE_INLINE const Sc::ArticulationSensorCore& getCore() const { return mCore; }
 
    PX_FORCE_INLINE Dy::ArticulationSensor& getLLSensor() { return mLLSensor; }
 
 
    Sc::Scene&                          mScene;
    Sc::ArticulationSensorCore&         mCore;
    Sc::ArticulationSim*                mArticulationSim;
    Dy::ArticulationSensor              mLLSensor;
    PxU32                               mLLIndex;
};
 
}
}
 
#endif //SC_ARTICULATION_SENSOR_SIM_H