PxRevoluteJoint.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_REVOLUTEJOINT_H
#define PX_REVOLUTEJOINT_H

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

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxRevoluteJoint;

PxRevoluteJoint*    PxRevoluteJointCreate(PxPhysics& physics, 
                                          PxRigidActor* actor0, const PxTransform& localFrame0, 
                                          PxRigidActor* actor1, const PxTransform& localFrame1);


struct PxRevoluteJointFlag
{
    enum Enum
    {
        eLIMIT_ENABLED          = 1<<0,     //< enable the limit
        eDRIVE_ENABLED          = 1<<1,     //< enable the drive
        eDRIVE_FREESPIN         = 1<<2      //< if the existing velocity is beyond the drive velocity, do not add force
    };
};

typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)



class PxRevoluteJoint : public PxJoint
{
public:

    virtual PxReal getAngle()                           const           = 0;


    virtual PxReal getVelocity()                        const           = 0;

    virtual void            setLimit(const PxJointAngularLimitPair& limits)         = 0;

    virtual PxJointAngularLimitPair getLimit()          const           = 0;



    virtual void            setDriveVelocity(PxReal velocity)           = 0;

    virtual PxReal          getDriveVelocity()          const           = 0;


    virtual void            setDriveForceLimit(PxReal limit)            = 0;

    virtual PxReal          getDriveForceLimit()        const           = 0;


    virtual void            setDriveGearRatio(PxReal ratio)         = 0;

    virtual PxReal          getDriveGearRatio()     const           = 0;


    virtual void                    setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;

    virtual void                    setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;

    virtual PxRevoluteJointFlags    getRevoluteJointFlags(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 "PxRevoluteJoint"; }

protected:

    //serialization

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

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

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

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif