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PxJointLimit.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_EXTENSIONS_JOINT_LIMIT
#define PX_EXTENSIONS_JOINT_LIMIT

#include "foundation/PxMath.h"
#include "PxPhysXConfig.h"
#include "common/PxTolerancesScale.h"
#include "PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxJointLimitParameters
{
//= 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 restitution;


    PxReal bounceThreshold;
    PxReal stiffness;

    PxReal damping;

    PxReal contactDistance;



    PxJointLimitParameters()
    : restitution(0)
    , bounceThreshold(0)
    , stiffness(0)
    , damping(0)
    , contactDistance(0)
    {
    }   

    PX_INLINE bool isValid() const
    {
        return  PxIsFinite(restitution) && restitution >= 0 && restitution <= 1 && 
                PxIsFinite(stiffness) && stiffness >= 0 && 
                PxIsFinite(damping) && damping >= 0 &&
                PxIsFinite(bounceThreshold) && bounceThreshold >= 0 &&
                PxIsFinite(contactDistance) && contactDistance >= 0;
    }

    PX_INLINE bool isSoft() const
    {
        return damping>0 || stiffness>0;
    }

protected:
    ~PxJointLimitParameters() {}
};


class PxJointLinearLimit : public PxJointLimitParameters
{
//= 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 value;

    PxJointLinearLimit(const PxTolerancesScale& scale, PxReal extent, PxReal contactDist = -1)
    : value(extent)
    {
        PxJointLimitParameters::contactDistance = contactDist == -1 ? 0.01f*scale.length : contactDist; 
    }


    PxJointLinearLimit(PxReal extent, const PxSpring& spring)
    : value(extent)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }



    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(value) && 
               value > 0;
    }
};


class PxJointLinearLimitPair : public PxJointLimitParameters
{
//= 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 upper, lower;


    PxJointLinearLimitPair(const PxTolerancesScale& scale, PxReal lowerLimit, PxReal upperLimit, PxReal contactDist = -1)
    : upper(upperLimit)
    , lower(lowerLimit)
    {
        PxJointLimitParameters::contactDistance = contactDist == -1 ? PxMin(scale.length * 0.01f, (upperLimit*0.49f-lowerLimit*0.49f)) : contactDist; 
        bounceThreshold = 2*scale.length;
    }


    PxJointLinearLimitPair(PxReal lowerLimit, PxReal upperLimit, const PxSpring& spring)
    : upper(upperLimit)
    , lower(lowerLimit)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }


    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(upper) && PxIsFinite(lower) && upper >= lower &&
               PxIsFinite(upper - lower) && 
               PxIsFinite(contactDistance) && contactDistance <= upper - lower;
    }
};


class PxJointAngularLimitPair : public PxJointLimitParameters
{
//= 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 upper, lower;


    PxJointAngularLimitPair(PxReal lowerLimit, PxReal upperLimit, PxReal contactDist = -1)
    : upper(upperLimit)
    , lower(lowerLimit)
    {
        PxJointLimitParameters::contactDistance = contactDist ==-1 ? PxMin(0.1f, 0.49f*(upperLimit-lowerLimit)) : contactDist;
        bounceThreshold = 0.5f;
    }


    PxJointAngularLimitPair(PxReal lowerLimit, PxReal upperLimit, const PxSpring& spring)
    : upper(upperLimit)
    , lower(lowerLimit)
    {
        stiffness = spring.stiffness;
        damping = spring.damping;
    }


    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(upper) && PxIsFinite(lower) && upper >= lower &&
               PxIsFinite(contactDistance) && contactDistance <= upper - lower;
    }
};



class PxJointLimitCone : public PxJointLimitParameters
{
//= 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 yAngle;


    PxReal zAngle;

    PxJointLimitCone(PxReal yLimitAngle, PxReal zLimitAngle, PxReal contactDist = -1):
      yAngle(yLimitAngle),
      zAngle(zLimitAngle)
      {
            PxJointLimitParameters::contactDistance = contactDist == -1 ? PxMin(0.1f, PxMin(yLimitAngle, zLimitAngle)*0.49f) : contactDist;
            bounceThreshold = 0.5f;
      }


    
      PxJointLimitCone(PxReal yLimitAngle, PxReal zLimitAngle, const PxSpring& spring):
      yAngle(yLimitAngle),
      zAngle(zLimitAngle)
      {
          stiffness = spring.stiffness;
          damping = spring.damping;
      }


    PX_INLINE bool isValid() const
    {
        return PxJointLimitParameters::isValid() &&
               PxIsFinite(yAngle) && yAngle>0 && yAngle<PxPi && 
               PxIsFinite(zAngle) && zAngle>0 && zAngle<PxPi;
    }
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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