ScArticulationTendonCore.h

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#ifndef PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE
#define PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE
 
#include "DyArticulationTendon.h"
 
namespace physx
{
namespace Sc
{
    class ArticulationSpatialTendonSim;
    class ArticulationFixedTendonSim;
 
    class ArticulationTendonCore
    {
    public:
 
// PX_SERIALIZATION
                                                            ArticulationTendonCore(const PxEMPTY) {}
                        void                                preExportDataReset() { }
        static          void                                getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
 
        ArticulationTendonCore() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)
        {
 
        }
        PxReal                              mStiffness;
        PxReal                              mDamping;
        PxReal                              mOffset;
        PxReal                              mLimitStiffness;
    };
 
    class ArticulationSpatialTendonCore : public ArticulationTendonCore
    {
    public:
 
// PX_SERIALIZATION
                                                            ArticulationSpatialTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}
                        void                                preExportDataReset() { }
        static          void                                getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
 
        ArticulationSpatialTendonCore() : ArticulationTendonCore() { mSim = NULL; }
        ~ArticulationSpatialTendonCore() {}
 
        void                            setStiffness(const PxReal stiffness);
        PxReal                          getStiffness() const;
 
        void                            setDamping(const PxReal damping);
        PxReal                          getDamping() const;
 
        void                            setLimitStiffness(const PxReal stiffness);
        PxReal                          getLimitStiffness() const;
 
        void                            setOffset(const PxReal offset);
        PxReal                          getOffset() const;
 
 
        PX_FORCE_INLINE void                            setSim(ArticulationSpatialTendonSim* sim)
        {
            PX_ASSERT((sim == 0) ^ (mSim == 0));
            mSim = sim;
        }
 
        PX_FORCE_INLINE ArticulationSpatialTendonSim*           getSim()            const { return mSim; }
 
    
        ArticulationSpatialTendonSim*           mSim;
    };
 
    class ArticulationFixedTendonCore : public ArticulationTendonCore
    {
    public:
        // PX_SERIALIZATION
        ArticulationFixedTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}
        void preExportDataReset() {}
        static void getBinaryMetaData(PxOutputStream& stream);
        //~PX_SERIALIZATION
 
        ArticulationFixedTendonCore() : ArticulationTendonCore(), mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)
        { mSim = NULL; }
        ~ArticulationFixedTendonCore() {}
 
        void                            setStiffness(const PxReal stiffness);
        PxReal                          getStiffness() const;
 
        void                            setDamping(const PxReal damping);
        PxReal                          getDamping() const;
 
        void                            setLimitStiffness(const PxReal stiffness);
        PxReal                          getLimitStiffness() const;
 
 
        void                            setOffset(const PxReal offset);
        PxReal                          getOffset() const;
 
        void                            setSpringRestLength(const PxReal restLength);
        PxReal                          getSpringRestLength() const;
 
        void                            setLimitRange(const PxReal lowLimit, const PxReal highLimit);
        void                            getLimitRange(PxReal& lowLimit, PxReal& highLimit) const;
 
        PX_FORCE_INLINE void                            setSim(ArticulationFixedTendonSim* sim)
        {
            PX_ASSERT((sim == 0) ^ (mSim == 0));
            mSim = sim;
        }
        PX_FORCE_INLINE ArticulationFixedTendonSim*         getSim()            const { return mSim; }
 
        PxReal                              mLowLimit;
        PxReal                              mHighLimit;
        PxReal                              mRestLength;
 
        ArticulationFixedTendonSim*         mSim;
    };
 
 
}//namespace Sc
} //namespace physx
 
#endif