PxPrismaticJoint.h

Go to the documentation of this file.

/*
 * 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_PRISMATICJOINT_H
#define PX_PRISMATICJOINT_H

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

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxPrismaticJoint;

PxPrismaticJoint*   PxPrismaticJointCreate(PxPhysics& physics, 
                                           PxRigidActor* actor0, const PxTransform& localFrame0, 
                                           PxRigidActor* actor1, const PxTransform& localFrame1);


struct PxPrismaticJointFlag
{
    enum Enum
    {
        eLIMIT_ENABLED  = 1<<1
    };
};

typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags;
PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16)



class PxPrismaticJoint : public PxJoint
{
public:
    

    virtual PxReal          getPosition()               const               = 0;

    virtual PxReal          getVelocity()               const               = 0;

    virtual void            setLimit(const PxJointLinearLimitPair&)     = 0;

    virtual PxJointLinearLimitPair getLimit()           const           = 0;


    virtual void                    setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0;

    virtual void                    setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0;

    virtual PxPrismaticJointFlags   getPrismaticJointFlags(void)                    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 "PxPrismaticJoint"; }

protected:
    //serialization
    
    PX_INLINE               PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

    PX_INLINE               PxPrismaticJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
    
    virtual bool            isKindOf(const char* name) const {  return !strcmp("PxPrismaticJoint", name) || PxJoint::isKindOf(name); }
    
    //~serialization
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif