NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxJoint.h Source File

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+00021 // This code supersedes and replaces all information previously supplied.
+00022 // NVIDIA Corporation products are not authorized for use as critical
+00023 // components in life support devices or systems without express written approval of
+00024 // NVIDIA Corporation.
+00025 //
+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 
+00031 #ifndef PX_JOINTCONSTRAINT_H
+00032 #define PX_JOINTCONSTRAINT_H
+00033 
+00037 #include "foundation/PxTransform.h"
+00038 #include "PxRigidActor.h"
+00039 #include "PxConstraint.h"
+00040 #include "common/PxBase.h"
+00041 
+00042 #if !PX_DOXYGEN
+00043 namespace physx
+00044 {
+00045 #endif
+00046 
+00047 class PxRigidActor;
+00048 class PxScene;
+00049 class PxPhysics;
+00050 class PxConstraint;
+00051 
+00057 struct PxJointConcreteType
+00058 {
+00059     enum Enum
+00060     {
+00061         eSPHERICAL = PxConcreteType::eFIRST_PHYSX_EXTENSION,
+00062         eREVOLUTE,
+00063         ePRISMATIC,
+00064         eFIXED,
+00065         eDISTANCE,
+00066         eD6,
+00067         eLast
+00068     };
+00069 };
+00070 
+00071 PX_DEFINE_TYPEINFO(PxJoint,             PxConcreteType::eUNDEFINED)
+00072 PX_DEFINE_TYPEINFO(PxD6Joint,           PxJointConcreteType::eD6)
+00073 PX_DEFINE_TYPEINFO(PxDistanceJoint,     PxJointConcreteType::eDISTANCE)
+00074 PX_DEFINE_TYPEINFO(PxFixedJoint,        PxJointConcreteType::eFIXED)
+00075 PX_DEFINE_TYPEINFO(PxPrismaticJoint,    PxJointConcreteType::ePRISMATIC)
+00076 PX_DEFINE_TYPEINFO(PxRevoluteJoint,     PxJointConcreteType::eREVOLUTE)
+00077 PX_DEFINE_TYPEINFO(PxSphericalJoint,    PxJointConcreteType::eSPHERICAL)
+00078 
+00085 struct PxJointActorIndex
+00086 {
+00087     enum Enum
+00088     {
+00089         eACTOR0,
+00090         eACTOR1,
+00091         COUNT
+00092     };
+00093 };
+00094 
+00099 class PxJoint : public PxBase
+00100 {
+00101 //= ATTENTION! =====================================================================================
+00102 // Changing the data layout of this class breaks the binary serialization format.  See comments for 
+00103 // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+00104 // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+00105 // accordingly.
+00106 //==================================================================================================
+00107 public:
+00108 
+00120     virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)           = 0;
+00121 
+00131     virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;
+00132 
+00144     virtual void                setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;
+00145 
+00156     virtual PxTransform         getLocalPose(PxJointActorIndex::Enum actor) const = 0;
+00157 
+00158 
+00166     virtual PxTransform         getRelativeTransform()              const   = 0;
+00167 
+00175     virtual PxVec3              getRelativeLinearVelocity()         const   = 0;
+00176 
+00183     virtual PxVec3              getRelativeAngularVelocity()        const   = 0;
+00184 
+00185 
+00198     virtual void                setBreakForce(PxReal force, PxReal torque)                      = 0;
+00199 
+00208     virtual void                getBreakForce(PxReal& force, PxReal& torque)            const   = 0;
+00209 
+00217     virtual void                setConstraintFlags(PxConstraintFlags flags)                     = 0;
+00218 
+00227     virtual void                setConstraintFlag(PxConstraintFlag::Enum flag, bool value)      = 0;
+00228 
+00229 
+00237     virtual PxConstraintFlags   getConstraintFlags()                                    const   = 0;
+00238 
+00239 
+00240 
+00248     virtual void                setInvMassScale0(PxReal invMassScale)                           = 0;
+00249 
+00258     virtual PxReal              getInvMassScale0() const                                        = 0;
+00259 
+00268     virtual void                setInvInertiaScale0(PxReal invInertiaScale)                     = 0;
+00269 
+00277     virtual PxReal              getInvInertiaScale0() const                                     = 0;
+00278 
+00279 
+00287     virtual void                setInvMassScale1(PxReal invMassScale)                           = 0;
+00288 
+00297     virtual PxReal              getInvMassScale1() const                                        = 0;
+00298 
+00307     virtual void                setInvInertiaScale1(PxReal invInertiaScale)                     = 0;
+00308 
+00316     virtual PxReal              getInvInertiaScale1() const                                     = 0;
+00317 
+00318 
+00327     virtual PxConstraint*       getConstraint()                                         const   = 0;
+00328 
+00340     virtual void                setName(const char* name)                                       = 0;
+00341 
+00350     virtual const char*         getName()                                               const   = 0;
+00351 
+00358     virtual void                release()                                                       = 0;
+00359 
+00360 
+00361 
+00369     virtual PxScene*            getScene()                                              const   = 0;
+00370 
+00371     void*                       userData;   
+00372 
+00373     //serialization
+00374 
+00378     static  void                getBinaryMetaData(PxOutputStream& stream);
+00379 
+00380     //~serialization
+00381                     
+00382 protected:
+00383     virtual                     ~PxJoint() {}
+00384 
+00385     //serialization
+00386 
+00390     PX_INLINE                   PxJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
+00391     
+00395     PX_INLINE                   PxJoint(PxBaseFlags baseFlags)  : PxBase(baseFlags) {}
+00396 
+00400     virtual bool                isKindOf(const char* name) const { return !::strcmp("PxJoint", name) || PxBase::isKindOf(name); }
+00401 
+00402     //~serialization
+00403 };
+00404 
+00405 class PxSpring
+00406 {
+00407 //= ATTENTION! =====================================================================================
+00408 // Changing the data layout of this class breaks the binary serialization format.  See comments for 
+00409 // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+00410 // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+00411 // accordingly.
+00412 //==================================================================================================
+00413 public:
+00414 
+00415     PxReal                  stiffness;          
+00416     PxReal                  damping;            
+00417 
+00418     PxSpring(PxReal stiffness_, PxReal damping_): stiffness(stiffness_), damping(damping_) {}
+00419 };
+00420 
+00421 
+00422 #if !PX_DOXYGEN
+00423 } // namespace physx
+00424 #endif
+00425 
+00440 PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);
+00441 
+00443 #endif
+