PxArticulation.h

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#ifndef PX_PHYSICS_NX_ARTICULATION
#define PX_PHYSICS_NX_ARTICULATION

#include "PxArticulationBase.h"


#if !PX_DOXYGEN
namespace physx
{
#endif

class PxArticulationLink;

class PxArticulationDriveCache
{
protected:
    PxArticulationDriveCache();
};


#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4435)
#endif

class PxArticulation : public PxArticulationBase
{
public:

    virtual void release() = 0;

    virtual     void            setMaxProjectionIterations(PxU32 iterations) = 0;

    virtual     PxU32           getMaxProjectionIterations() const = 0;

    virtual     void            setSeparationTolerance(PxReal tolerance) = 0;

    virtual     PxReal          getSeparationTolerance() const = 0;


    virtual     void            setInternalDriveIterations(PxU32 iterations) = 0;

    virtual     PxU32           getInternalDriveIterations() const = 0;


    virtual     void            setExternalDriveIterations(PxU32 iterations) = 0;

    virtual     PxU32           getExternalDriveIterations() const = 0;

    virtual     PxArticulationDriveCache* 
                                createDriveCache(PxReal compliance, PxU32 driveIterations) const = 0;


    virtual     void            updateDriveCache(PxArticulationDriveCache& driveCache,
                                                 PxReal compliance, 
                                                 PxU32 driveIterations) const = 0;

    virtual     void            releaseDriveCache(PxArticulationDriveCache& driveCache) const = 0;

    virtual     void            applyImpulse(PxArticulationLink* link,
                                             const PxArticulationDriveCache& driveCache,
                                             const PxVec3& linearImpulse,
                                             const PxVec3& angularImpulse) = 0;

    virtual     void            computeImpulseResponse(PxArticulationLink*link,
                                                       PxVec3& linearResponse, 
                                                       PxVec3& angularResponse,
                                                       const PxArticulationDriveCache& driveCache,
                                                       const PxVec3& linearImpulse,
                                                       const PxVec3& angularImpulse) const = 0;

protected:
    PX_INLINE                   PxArticulation(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationBase(concreteType, baseFlags){}
    PX_INLINE                   PxArticulation(PxBaseFlags baseFlags) : PxArticulationBase(baseFlags){}
    virtual                     ~PxArticulation() {}

};

#if PX_VC
#pragma warning(pop)
#endif

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif