PxSphericalJoint.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_SPHERICALJOINT_H
#define PX_SPHERICALJOINT_H

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

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxSphericalJoint;

PxSphericalJoint*   PxSphericalJointCreate(PxPhysics& physics, 
                                           PxRigidActor* actor0, const PxTransform& localFrame0, 
                                           PxRigidActor* actor1, const PxTransform& localFrame1);


struct PxSphericalJointFlag
{
    enum Enum
    {
        eLIMIT_ENABLED  = 1<<1          
    };
};
typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)


class PxSphericalJoint : public PxJoint
{
public:
    

    virtual PxJointLimitCone    getLimitCone() const                                    = 0;

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

    virtual void                setSphericalJointFlags(PxSphericalJointFlags flags) = 0;

    virtual void                setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;

    virtual PxSphericalJointFlags   getSphericalJointFlags(void)                    const   = 0;

    virtual void                setProjectionLinearTolerance(PxReal tolerance)          = 0;


    virtual PxReal              getProjectionLinearTolerance()          const           = 0;

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

protected:

    //serialization

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

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

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

    //~serialization

};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif