PxArticulationBase.h

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#ifndef PX_PHYSICS_NX_ARTICULATION_BASE
#define PX_PHYSICS_NX_ARTICULATION_BASE

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

#if !PX_DOXYGEN
namespace physx
{
#endif

    
    class PxArticulationImpl;

    class PxArticulationBase : public PxBase
    {
    public:

        enum Enum
        {
            eReducedCoordinate = 0,
            eMaximumCoordinate = 1
        };

        virtual     PxScene*        getScene()  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     PxArticulationImpl* getImpl() = 0;

        virtual const PxArticulationImpl* getImpl() const = 0;

        virtual     PxArticulationBase::Enum getType() const = 0;

        void*                       userData;   

        virtual                     ~PxArticulationBase() {}

    protected:
        PX_INLINE                   PxArticulationBase(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
        PX_INLINE                   PxArticulationBase(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
public:
        virtual PxArticulationJointBase* createArticulationJoint(PxArticulationLink& parent,
            const PxTransform& parentFrame,
            PxArticulationLink& child,
            const PxTransform& childFrame) = 0;
        virtual void                     releaseArticulationJoint(PxArticulationJointBase* joint) = 0;
    };

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif