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00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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) 2008-2017 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_PHYSICS_NX_ARTICULATION_JOINT
00032 #define PX_PHYSICS_NX_ARTICULATION_JOINT
00033 
00036 #include "PxPhysXConfig.h"
00037 #include "common/PxBase.h"
00038 
00039 #if !PX_DOXYGEN
00040 namespace physx
00041 {
00042 #endif
00043 
00057 struct PxArticulationJointDriveType
00058 {
00059     enum Enum
00060     {
00061         eTARGET = 0,        // use the quaternion as the drive target
00062         eERROR  = 1         // use the vector part of the quaternion as the drive error.
00063     };
00064 };
00065 
00066 
00076 class PxArticulationJoint : public PxBase
00077 {
00078 public:
00079     
00089     virtual     void            setParentPose(const PxTransform& pose) = 0;
00090 
00099     virtual     PxTransform     getParentPose() const = 0;
00100 
00101 
00111     virtual     void            setChildPose(const PxTransform& pose) = 0;
00112 
00120     virtual     PxTransform     getChildPose() const = 0;
00121 
00122 
00135     virtual     void            setTargetOrientation(const PxQuat& orientation) = 0;
00136 
00144     virtual     PxQuat          getTargetOrientation() const = 0;
00145 
00156     virtual     void            setTargetVelocity(const PxVec3& velocity) = 0;
00157 
00165     virtual     PxVec3          getTargetVelocity() const = 0;
00166 
00167 
00176     virtual     void            setDriveType(PxArticulationJointDriveType::Enum driveType) = 0;
00177 
00185     virtual     PxArticulationJointDriveType::Enum
00186                                 getDriveType() const = 0;
00187 
00188 
00202     virtual     void            setStiffness(PxReal spring) = 0;
00203 
00211     virtual     PxReal          getStiffness() const = 0;
00212 
00213 
00227     virtual     void            setDamping(PxReal damping) = 0;
00228 
00235     virtual     PxReal          getDamping() const = 0;
00236 
00256     virtual     void            setInternalCompliance(PxReal compliance) = 0;
00257 
00258 
00266     virtual     PxReal          getInternalCompliance() const = 0;
00267 
00287     virtual     void            setExternalCompliance(PxReal compliance) = 0;
00288 
00296     virtual     PxReal          getExternalCompliance() const = 0;
00297 
00298 
00299 
00313     virtual     void            setSwingLimit(PxReal zLimit, PxReal yLimit) = 0;
00314 
00315 
00326     virtual     void            getSwingLimit(PxReal& zLimit, PxReal& yLimit) const = 0;
00327 
00328 
00329 
00336     virtual     void            setTangentialStiffness(PxReal spring) = 0;
00337 
00338 
00346     virtual     PxReal          getTangentialStiffness() const = 0;
00347 
00348 
00355     virtual     void            setTangentialDamping(PxReal damping) = 0;
00356 
00357 
00365     virtual     PxReal          getTangentialDamping() const = 0;
00366 
00367 
00379     virtual     void            setSwingLimitContactDistance(PxReal contactDistance) = 0;
00380 
00381 
00389     virtual     PxReal          getSwingLimitContactDistance() const = 0;
00390 
00391 
00392 
00401     virtual     void            setSwingLimitEnabled(bool enabled) = 0;
00402 
00411     virtual     bool            getSwingLimitEnabled() const = 0;
00412 
00413 
00426     virtual     void            setTwistLimit(PxReal lower, PxReal upper) = 0;
00427 
00437     virtual     void            getTwistLimit(PxReal &lower, PxReal &upper) const = 0;
00438 
00439 
00448     virtual     void            setTwistLimitEnabled(bool enabled) = 0;
00449 
00458     virtual     bool            getTwistLimitEnabled() const = 0;
00459 
00460 
00472     virtual     void            setTwistLimitContactDistance(PxReal contactDistance) = 0;
00473 
00474 
00482     virtual     PxReal          getTwistLimitContactDistance() const = 0;
00483 
00484     virtual     const char*     getConcreteTypeName() const                 {   return "PxArticulationJoint"; }
00485 
00486 protected:
00487     PX_INLINE                   PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
00488     PX_INLINE                   PxArticulationJoint(PxBaseFlags baseFlags) : PxBase(baseFlags)  {}
00489     virtual                     ~PxArticulationJoint() {}
00490     virtual     bool            isKindOf(const char* name)  const       {   return !::strcmp("PxArticulationJoint", name) || PxBase::isKindOf(name); }
00491 };
00492 
00493 #if !PX_DOXYGEN
00494 } // namespace physx
00495 #endif
00496 
00498 #endif