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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_NP_ARTICULATION_JOINT
#define PX_PHYSICS_NP_ARTICULATION_JOINT
#include "PxArticulationJoint.h"
#include "ScbArticulationJoint.h"
#if PX_ENABLE_DEBUG_VISUALIZATION
#include "CmRenderOutput.h"
#endif
namespace physx
{
class NpScene;
class NpArticulationLink;
class NpArticulationJoint : public PxArticulationJoint, public Ps::UserAllocated
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
NpArticulationJoint(PxBaseFlags baseFlags) : PxArticulationJoint(baseFlags), mJoint(PxEmpty) {}
virtual void resolveReferences(PxDeserializationContext& context);
static NpArticulationJoint* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
void exportExtraData(PxSerializationContext&) {}
void importExtraData(PxDeserializationContext&) {}
virtual void requiresObjects(PxProcessPxBaseCallback&){}
virtual bool isSubordinate() const { return true; }
//~PX_SERIALIZATION
NpArticulationJoint(NpArticulationLink& parent,
const PxTransform& parentFrame,
NpArticulationLink& child,
const PxTransform& childFrame);
virtual ~NpArticulationJoint();
//---------------------------------------------------------------------------------
// PxArticulationJoint implementation
//---------------------------------------------------------------------------------
// Save
virtual PxTransform getParentPose() const;
virtual void setParentPose(const PxTransform&);
virtual PxTransform getChildPose() const;
virtual void setChildPose(const PxTransform&);
virtual void setTargetOrientation(const PxQuat&);
virtual PxQuat getTargetOrientation() const;
virtual void setTargetVelocity(const PxVec3&);
virtual PxVec3 getTargetVelocity() const;
virtual void setDriveType(PxArticulationJointDriveType::Enum driveType);
virtual PxArticulationJointDriveType::Enum
getDriveType() const;
virtual void setStiffness(PxReal);
virtual PxReal getStiffness() const;
virtual void setDamping(PxReal);
virtual PxReal getDamping() const;
virtual void setInternalCompliance(PxReal);
virtual PxReal getInternalCompliance() const;
virtual void setExternalCompliance(PxReal);
virtual PxReal getExternalCompliance() const;
virtual void setSwingLimit(PxReal yLimit, PxReal zLimit);
virtual void getSwingLimit(PxReal &yLimit, PxReal &zLimit) const;
virtual void setTangentialStiffness(PxReal spring);
virtual PxReal getTangentialStiffness() const;
virtual void setTangentialDamping(PxReal damping);
virtual PxReal getTangentialDamping() const;
virtual void setSwingLimitEnabled(bool);
virtual bool getSwingLimitEnabled() const;
virtual void setSwingLimitContactDistance(PxReal contactDistance);
virtual PxReal getSwingLimitContactDistance() const;
virtual void setTwistLimit(PxReal lower, PxReal upper);
virtual void getTwistLimit(PxReal &lower, PxReal &upper) const;
virtual void setTwistLimitEnabled(bool);
virtual bool getTwistLimitEnabled() const;
virtual void setTwistLimitContactDistance(PxReal contactDistance);
virtual PxReal getTwistLimitContactDistance() const;
//---------------------------------------------------------------------------------
// Miscellaneous
//---------------------------------------------------------------------------------
public:
void release();
PX_INLINE const Scb::ArticulationJoint& getScbArticulationJoint() const { return mJoint; }
PX_INLINE Scb::ArticulationJoint& getScbArticulationJoint() { return mJoint; }
PX_INLINE const NpArticulationLink& getParent() const { return *mParent; }
PX_INLINE NpArticulationLink& getParent() { return *mParent; }
PX_INLINE const NpArticulationLink& getChild() const { return *mChild; }
PX_INLINE NpArticulationLink& getChild() { return *mChild; }
private:
NpScene* getOwnerScene() const; // the scene the user thinks the actor is in, or from which the actor is pending removal
private:
Scb::ArticulationJoint mJoint;
NpArticulationLink* mParent;
NpArticulationLink* mChild;
};
}
#endif
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