1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
//
// 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_SCP_ARTICULATION_JOINT_CORE
#define PX_PHYSICS_SCP_ARTICULATION_JOINT_CORE
#include "foundation/PxTransform.h"
#include "CmPhysXCommon.h"
#include "PsUserAllocated.h"
#include "DyArticulation.h"
#include "PxMetaData.h"
namespace physx
{
namespace Sc
{
class BodyCore;
class ArticulationJointSim;
class ArticulationJointDesc
{
public:
BodyCore* parent;
BodyCore* child;
PxTransform parentPose;
PxTransform childPose;
};
class ArticulationJointCore : 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.
//==================================================================================================
//---------------------------------------------------------------------------------
// Construction, destruction & initialization
//---------------------------------------------------------------------------------
public:
// PX_SERIALIZATION
ArticulationJointCore(const PxEMPTY) : mSim(NULL), mCore(PxEmpty) {}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
ArticulationJointCore(const PxTransform& parentFrame,
const PxTransform& childFrame);
~ArticulationJointCore();
//---------------------------------------------------------------------------------
// External API
//---------------------------------------------------------------------------------
const PxTransform& getParentPose() const { return mCore.parentPose; }
void setParentPose(const PxTransform&);
const PxTransform& getChildPose() const { return mCore.childPose; }
void setChildPose(const PxTransform&);
const PxQuat& getTargetOrientation() const { return mCore.targetPosition; }
void setTargetOrientation(const PxQuat&);
const PxVec3& getTargetVelocity() const { return mCore.targetVelocity; }
void setTargetVelocity(const PxVec3&);
PxReal getStiffness() const { return mCore.spring; }
void setStiffness(PxReal);
PxReal getDamping() const { return mCore.damping; }
void setDamping(PxReal);
PxReal getInternalCompliance() const { return mCore.internalCompliance; }
void setInternalCompliance(PxReal);
PxReal getExternalCompliance() const { return mCore.externalCompliance; }
void setExternalCompliance(PxReal);
void getSwingLimit(PxReal& yLimit, PxReal& zLimit) const { yLimit = mCore.swingYLimit; zLimit = mCore.swingZLimit; }
void setSwingLimit(PxReal yLimit, PxReal zLimit);
PxReal getTangentialStiffness() const { return mCore.tangentialStiffness; }
void setTangentialStiffness(PxReal);
PxReal getTangentialDamping() const { return mCore.tangentialDamping; }
void setTangentialDamping(PxReal);
bool getSwingLimitEnabled() const { return mCore.swingLimited; }
void setSwingLimitEnabled(bool);
PxReal getSwingLimitContactDistance() const { return mCore.swingLimitContactDistance; }
void setSwingLimitContactDistance(PxReal);
void getTwistLimit(PxReal& lower, PxReal& upper) const { lower = mCore.twistLimitLow; upper = mCore.twistLimitHigh; }
void setTwistLimit(PxReal lower, PxReal upper);
bool getTwistLimitEnabled() const { return mCore.twistLimited; }
void setTwistLimitEnabled(bool);
PxReal getTwistLimitContactDistance() const { return mCore.twistLimitContactDistance; }
void setTwistLimitContactDistance(PxReal);
void setDriveType(PxArticulationJointDriveType::Enum type);
PxArticulationJointDriveType::Enum
getDriveType() const { return PxArticulationJointDriveType::Enum(mCore.driveType); }
//---------------------------------------------------------------------------------
// Low Level data access - some wouldn't be needed if the interface wasn't virtual
//---------------------------------------------------------------------------------
PX_FORCE_INLINE ArticulationJointSim* getSim() const { return mSim; }
PX_FORCE_INLINE void setSim(ArticulationJointSim* sim)
{
PX_ASSERT((sim==0) ^ (mSim == 0));
mSim = sim;
}
PX_FORCE_INLINE const Dy::ArticulationJointCore& getCore() { return mCore; }
private:
ArticulationJointSim* mSim;
Dy::ArticulationJointCore mCore;
};
} // namespace Sc
}
#endif
|