PxD6Joint.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_D6JOINT_H
#define PX_D6JOINT_H

#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"
#include "foundation/PxFlags.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxD6Joint;

PxD6Joint*          PxD6JointCreate(PxPhysics& physics, 
                                    PxRigidActor* actor0, const PxTransform& localFrame0, 
                                    PxRigidActor* actor1, const PxTransform& localFrame1);




struct PxD6Axis
{
    enum Enum
    {
        eX      = 0,    
        eY      = 1,    
        eZ      = 2,    
        eTWIST  = 3,    
        eSWING1 = 4,    
        eSWING2 = 5,    
        eCOUNT  = 6
    };
};


struct PxD6Motion
{
    enum Enum
    {
        eLOCKED,    
        eLIMITED,   
        eFREE       
    };
};


struct PxD6Drive
{
    enum Enum
    {
        eX          = 0,        
        eY          = 1,        
        eZ          = 2,        
        eSWING      = 3,        
        eTWIST      = 4,        
        eSLERP      = 5,        
        eCOUNT      = 6
    };
};

struct PxD6JointDriveFlag
{
    enum Enum
    {
        eACCELERATION   = 1 
    };
};
typedef PxFlags<PxD6JointDriveFlag::Enum, PxU32> PxD6JointDriveFlags;
PX_FLAGS_OPERATORS(PxD6JointDriveFlag::Enum, PxU32)



class PxD6JointDrive : public PxSpring
{
//= 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:
    PxReal                  forceLimit;         
    PxD6JointDriveFlags     flags;              


    PxD6JointDrive(): PxSpring(0,0), forceLimit(PX_MAX_F32), flags(0) {}

    PxD6JointDrive(PxReal driveStiffness, PxReal driveDamping, PxReal driveForceLimit, bool isAcceleration = false)
    : PxSpring(driveStiffness, driveDamping)
    , forceLimit(driveForceLimit)
    , flags(isAcceleration?(PxU32)PxD6JointDriveFlag::eACCELERATION : 0) 
    {}

    bool isValid() const
    {
        return PxIsFinite(stiffness) && stiffness>=0 &&
               PxIsFinite(damping) && damping >=0 &&
               PxIsFinite(forceLimit) && forceLimit >=0;
    }
};


class PxD6Joint : public PxJoint
{
public:

    virtual void                setMotion(PxD6Axis::Enum axis, PxD6Motion::Enum type)           = 0;

    virtual PxD6Motion::Enum    getMotion(PxD6Axis::Enum axis)          const                   = 0;

    virtual PxReal              getTwist()                              const                   = 0;

    virtual PxReal              getSwingYAngle()                        const                   = 0;

    virtual PxReal              getSwingZAngle()                        const                   = 0;


    virtual void                setLinearLimit(const PxJointLinearLimit& limit)                     = 0;

    virtual PxJointLinearLimit  getLinearLimit()                        const                   = 0;


    virtual void                setTwistLimit(const PxJointAngularLimitPair& limit)             = 0;


    virtual PxJointAngularLimitPair getTwistLimit()                         const                   = 0;

    virtual void                setSwingLimit(const PxJointLimitCone& limit)                        = 0;

    virtual PxJointLimitCone    getSwingLimit()                         const                   = 0;

    virtual void                setDrive(PxD6Drive::Enum index, const PxD6JointDrive& drive)        = 0;

    virtual PxD6JointDrive      getDrive(PxD6Drive::Enum index) const                           = 0;

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

    virtual PxTransform         getDrivePosition()                      const                   = 0;


    virtual void                setDriveVelocity(const PxVec3& linear,
                                                 const PxVec3& angular)                         = 0;

    virtual void                getDriveVelocity(PxVec3& linear,
                                                 PxVec3& angular)       const                   = 0;
    

    virtual void                setProjectionLinearTolerance(PxReal tolerance)                  = 0;


    virtual PxReal              getProjectionLinearTolerance()          const                   = 0;

    virtual void                setProjectionAngularTolerance(PxReal tolerance)                         = 0;

    virtual PxReal              getProjectionAngularTolerance()         const                   = 0;

    virtual const char*         getConcreteTypeName() const { return "PxD6Joint"; }


protected:

    //serialization

    PX_INLINE                   PxD6Joint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

    PX_INLINE                   PxD6Joint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}

    virtual bool                isKindOf(const char* name) const { return !strcmp("PxD6Joint", name) || PxJoint::isKindOf(name); }

    //~serialization
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif