PxArticulation.h
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29 
30 
31 #ifndef PX_PHYSICS_NX_ARTICULATION
32 #define PX_PHYSICS_NX_ARTICULATION
33 
36 #include "PxArticulationBase.h"
37 
38 
39 #if !PX_DOXYGEN
40 namespace physx
41 {
42 #endif
43 
44 class PxArticulationLink;
45 
54 {
55 protected:
57 };
58 
59 
71 #if PX_VC
72 #pragma warning(push)
73 #pragma warning(disable : 4435)
74 #endif
75 
77 {
78 public:
79 
80  virtual void release() = 0;
81 
94  virtual void setMaxProjectionIterations(PxU32 iterations) = 0;
95 
104  virtual PxU32 getMaxProjectionIterations() const = 0;
105 
117  virtual void setSeparationTolerance(PxReal tolerance) = 0;
118 
127  virtual PxReal getSeparationTolerance() const = 0;
128 
129 
142  virtual void setInternalDriveIterations(PxU32 iterations) = 0;
143 
152  virtual PxU32 getInternalDriveIterations() const = 0;
153 
154 
168  virtual void setExternalDriveIterations(PxU32 iterations) = 0;
169 
178  virtual PxU32 getExternalDriveIterations() const = 0;
179 
194  virtual PxArticulationDriveCache*
195  createDriveCache(PxReal compliance, PxU32 driveIterations) const = 0;
196 
197 
210  virtual void updateDriveCache(PxArticulationDriveCache& driveCache,
211  PxReal compliance,
212  PxU32 driveIterations) const = 0;
213 
221  virtual void releaseDriveCache(PxArticulationDriveCache& driveCache) const = 0;
222 
236  virtual void applyImpulse(PxArticulationLink* link,
237  const PxArticulationDriveCache& driveCache,
238  const PxVec3& linearImpulse,
239  const PxVec3& angularImpulse) = 0;
240 
258  virtual void computeImpulseResponse(PxArticulationLink*link,
259  PxVec3& linearResponse,
260  PxVec3& angularResponse,
261  const PxArticulationDriveCache& driveCache,
262  const PxVec3& linearImpulse,
263  const PxVec3& angularImpulse) const = 0;
264 
265 protected:
266  PX_INLINE PxArticulation(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationBase(concreteType, baseFlags){}
268  virtual ~PxArticulation() {}
269 
270 };
271 
272 #if PX_VC
273 #pragma warning(pop)
274 #endif
275 
276 #if !PX_DOXYGEN
277 } // namespace physx
278 #endif
279 
281 #endif
Definition: GuContactBuffer.h:37
float PxReal
Definition: PxSimpleTypes.h:78
PX_INLINE PxArticulation(PxBaseFlags baseFlags)
Definition: PxArticulation.h:267
PxU16 PxType
Definition: PxBase.h:49
virtual ~PxArticulation()
Definition: PxArticulation.h:268
a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...
Definition: PxArticulationBase.h:57
a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...
Definition: PxArticulation.h:76
uint32_t PxU32
Definition: Px.h:48
Articulation drive cache.
Definition: PxArticulation.h:53
PX_INLINE PxArticulation(PxType concreteType, PxBaseFlags baseFlags)
Definition: PxArticulation.h:266
#define PX_INLINE
Definition: PxPreprocessor.h:349
3 Element vector class.
Definition: PxVec3.h:49