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PxArticulation.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_NX_ARTICULATION
#define PX_PHYSICS_NX_ARTICULATION

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

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxArticulationLink;

class PxArticulationDriveCache
{
protected:
    PxArticulationDriveCache();
};

class PxArticulation : public PxBase
{
public:
    virtual     void            release() = 0;

    virtual     PxScene*        getScene()  const = 0;


    virtual     void            setMaxProjectionIterations(PxU32 iterations) = 0;

    virtual     PxU32           getMaxProjectionIterations() const = 0;

    virtual     void            setSeparationTolerance(PxReal tolerance) = 0;

    virtual     PxReal          getSeparationTolerance() const = 0;


    virtual     void            setInternalDriveIterations(PxU32 iterations) = 0;

    virtual     PxU32           getInternalDriveIterations() const = 0;


    virtual     void            setExternalDriveIterations(PxU32 iterations) = 0;

    virtual     PxU32           getExternalDriveIterations() const = 0;



    virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;

    virtual     void                getSolverIterationCounts(PxU32 & minPositionIters, PxU32 & minVelocityIters) const = 0;

    virtual     bool                isSleeping() const = 0;

    virtual     void                setSleepThreshold(PxReal threshold) = 0;

    virtual     PxReal              getSleepThreshold() const = 0;

    virtual     void                setStabilizationThreshold(PxReal threshold) = 0;

    virtual     PxReal              getStabilizationThreshold() const = 0;

    virtual     void                setWakeCounter(PxReal wakeCounterValue) = 0;

    virtual     PxReal              getWakeCounter() const = 0;

    virtual     void                wakeUp()    = 0;

    virtual     void                putToSleep()    = 0;

    virtual         PxArticulationLink*         createLink(PxArticulationLink* parent, const PxTransform& pose) = 0;


    virtual     PxU32           getNbLinks() const = 0;

    virtual     PxU32           getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;

    virtual     void            setName(const char* name)       = 0;

    virtual     const char*     getName()           const   = 0;

    virtual     PxBounds3       getWorldBounds(float inflation=1.01f) const = 0;

    virtual     PxAggregate*    getAggregate() const = 0;

    virtual     PxArticulationDriveCache* 
                                createDriveCache(PxReal compliance, PxU32 driveIterations) const = 0;


    virtual     void            updateDriveCache(PxArticulationDriveCache& driveCache,
                                                 PxReal compliance, 
                                                 PxU32 driveIterations) const = 0;

    virtual     void            releaseDriveCache(PxArticulationDriveCache& driveCache) const = 0;

    virtual     void            applyImpulse(PxArticulationLink* link,
                                             const PxArticulationDriveCache& driveCache,
                                             const PxVec3& linearImpulse,
                                             const PxVec3& angularImpulse) = 0;

    virtual     void            computeImpulseResponse(PxArticulationLink*link,
                                                       PxVec3& linearResponse, 
                                                       PxVec3& angularResponse,
                                                       const PxArticulationDriveCache& driveCache,
                                                       const PxVec3& linearImpulse,
                                                       const PxVec3& angularImpulse) const = 0;


    //public variables:
                void*           userData;   

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

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


};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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