PxArticulationJointReducedCoordinate.h

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#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT_RC
#define PX_PHYSICS_NX_ARTICULATION_JOINT_RC

#if 1
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
#include "PxArticulationJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    class PxArticulationJointReducedCoordinate : public PxArticulationJointBase
    {
    public:

        virtual void                            setJointType(PxArticulationJointType::Enum jointType) = 0;
        virtual PxArticulationJointType::Enum   getJointType() const = 0;

        virtual void                            setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;
        virtual PxArticulationMotion::Enum      getMotion(PxArticulationAxis::Enum axis) const = 0;

        virtual void                            setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit) = 0;
        virtual void                            getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit) = 0;
        virtual void                            setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType = PxArticulationDriveType::eFORCE) = 0;
        virtual void                            getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) = 0;
        virtual void                            setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target) = 0;
        virtual void                            setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel) = 0;
        virtual PxReal                          getDriveTarget(PxArticulationAxis::Enum axis) = 0;
        virtual PxReal                          getDriveVelocity(PxArticulationAxis::Enum axis) = 0;

        virtual void                            setFrictionCoefficient(const PxReal coefficient) = 0;
        virtual PxReal                          getFrictionCoefficient() const = 0;
        virtual const char*                     getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }

        virtual void                            setMaxJointVelocity(const PxReal maxJointV) = 0;
        virtual PxReal                          getMaxJointVelocity() const = 0;

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

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

#endif