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:

        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;

        void*                       userData;   

        virtual                     ~PxArticulationBase() {}

    protected:
        PX_INLINE                   PxArticulationBase(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
        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