PxArticulationJoint.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT
#define PX_PHYSICS_NX_ARTICULATION_JOINT

#include "PxPhysXConfig.h"
#include "common/PxBase.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

struct PxArticulationJointDriveType
{
    enum Enum
    {
        eTARGET = 0,        // use the quaternion as the drive target
        eERROR  = 1         // use the vector part of the quaternion as the drive error.
    };
};


class PxArticulationJoint : public PxBase
{
public:
    
    virtual     void            setParentPose(const PxTransform& pose) = 0;

    virtual     PxTransform     getParentPose() const = 0;


    virtual     void            setChildPose(const PxTransform& pose) = 0;

    virtual     PxTransform     getChildPose() const = 0;


    virtual     void            setTargetOrientation(const PxQuat& orientation) = 0;

    virtual     PxQuat          getTargetOrientation() const = 0;

    virtual     void            setTargetVelocity(const PxVec3& velocity) = 0;

    virtual     PxVec3          getTargetVelocity() const = 0;


    virtual     void            setDriveType(PxArticulationJointDriveType::Enum driveType) = 0;

    virtual     PxArticulationJointDriveType::Enum
                                getDriveType() const = 0;


    virtual     void            setStiffness(PxReal spring) = 0;

    virtual     PxReal          getStiffness() const = 0;


    virtual     void            setDamping(PxReal damping) = 0;

    virtual     PxReal          getDamping() const = 0;

    virtual     void            setInternalCompliance(PxReal compliance) = 0;


    virtual     PxReal          getInternalCompliance() const = 0;

    virtual     void            setExternalCompliance(PxReal compliance) = 0;

    virtual     PxReal          getExternalCompliance() const = 0;



    virtual     void            setSwingLimit(PxReal yLimit, PxReal zLimit) = 0;


    virtual     void            getSwingLimit(PxReal &yLimit, PxReal &zLimit) const = 0;



    virtual     void            setTangentialStiffness(PxReal spring) = 0;


    virtual     PxReal          getTangentialStiffness() const = 0;


    virtual     void            setTangentialDamping(PxReal damping) = 0;


    virtual     PxReal          getTangentialDamping() const = 0;


    virtual     void            setSwingLimitContactDistance(PxReal contactDistance) = 0;


    virtual     PxReal          getSwingLimitContactDistance() const = 0;



    virtual     void            setSwingLimitEnabled(bool enabled) = 0;

    virtual     bool            getSwingLimitEnabled() const = 0;


    virtual     void            setTwistLimit(PxReal lower, PxReal upper) = 0;

    virtual     void            getTwistLimit(PxReal &lower, PxReal &upper) const = 0;


    virtual     void            setTwistLimitEnabled(bool enabled) = 0;

    virtual     bool            getTwistLimitEnabled() const = 0;


    virtual     void            setTwistLimitContactDistance(PxReal contactDistance) = 0;


    virtual     PxReal          getTwistLimitContactDistance() const = 0;

    virtual     const char*     getConcreteTypeName() const                 {   return "PxArticulationJoint"; }

protected:
    PX_INLINE                   PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
    PX_INLINE                   PxArticulationJoint(PxBaseFlags baseFlags) : PxBase(baseFlags)  {}
    virtual                     ~PxArticulationJoint() {}
    virtual     bool            isKindOf(const char* name)  const       {   return !strcmp("PxArticulationJoint", name) || PxBase::isKindOf(name); }
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif