ScArticulationTendonSim.h

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#ifndef SC_ARTICULATION_TENDON_SIM_H
#define SC_ARTICULATION_TENDON_SIM_H
 
#include "foundation/PxUserAllocated.h"
#include "DyArticulationTendon.h"
 
namespace physx
{
namespace Sc
{
 
    class ArticulationFixedTendonCore;
    class ArticulationTendonJointCore;
    class ArticulationSpatialTendonCore;
    class ArticulationAttachmentCore;
    class Scene;
    class ArticulationJointCore;
    class ArticulationSim;
 
    class ArticulationSpatialTendonSim : public PxUserAllocated
    {
        PX_NOCOPY(ArticulationSpatialTendonSim)
    public:
        ArticulationSpatialTendonSim(ArticulationSpatialTendonCore& tendon, Scene& scene);
 
        virtual ~ArticulationSpatialTendonSim();
 
        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                            setAttachmentCoefficient(ArticulationAttachmentCore& core, const PxReal coefficient);
        void                            setAttachmentRelativeOffset(ArticulationAttachmentCore& core, const PxVec3& offset);
        void                            setAttachmentLimits(ArticulationAttachmentCore& core, const PxReal lowLimit, const PxReal highLimit);
        void                            setAttachmentRestLength(ArticulationAttachmentCore& core, const PxReal restLength);
        void addAttachment(ArticulationAttachmentCore& core);
        void removeAttachment(ArticulationAttachmentCore& core);
 
        Dy::ArticulationSpatialTendon                       mLLTendon;
        ArticulationSpatialTendonCore&                      mTendonCore;
 
        ArticulationSim*                                    mArtiSim;
        Scene& mScene;
 
    };
 
    class ArticulationFixedTendonSim : public PxUserAllocated
    {
        PX_NOCOPY(ArticulationFixedTendonSim)
    public:
        ArticulationFixedTendonSim(ArticulationFixedTendonCore& tendon, Scene& scene);
 
        virtual ~ArticulationFixedTendonSim();
 
        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;
 
        void addTendonJoint(ArticulationTendonJointCore& tendonJointCore);
        void removeTendonJoint(ArticulationTendonJointCore& core);
 
        void                            setTendonJointCoefficient(ArticulationTendonJointCore& core, const PxArticulationAxis::Enum axis, const float coefficient, const float recipCoefficient);
 
        Dy::ArticulationFixedTendon                     mLLTendon; 
        ArticulationFixedTendonCore&                    mTendonCore;
 
        ArticulationSim*                                mArtiSim;
        Scene& mScene;
    };
}//namespace Sc
}//namespace physx
#endif