00001 // This code contains NVIDIA Confidential Information and is disclosed to you
00002 // under a form of NVIDIA software license agreement provided separately to you.
00003 //
00004 // Notice
00005 // NVIDIA Corporation and its licensors retain all intellectual property and
00006 // proprietary rights in and to this software and related documentation and
00007 // any modifications thereto. Any use, reproduction, disclosure, or
00008 // distribution of this software and related documentation without an express
00009 // license agreement from NVIDIA Corporation is strictly prohibited.
00010 //
00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
00014 // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
00015 //
00016 // Information and code furnished is believed to be accurate and reliable.
00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
00018 // information or for any infringement of patents or other rights of third parties that may
00019 // result from its use. No license is granted by implication or otherwise under any patent
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_LINK
00032 #define PX_PHYSICS_NX_ARTICULATION_LINK
00033 
00036 #include "PxPhysXConfig.h"
00037 #include "PxArticulationJoint.h"
00038 #include "PxRigidBody.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00055 class PxArticulationLink : public PxRigidBody
00056 {
00057 public:
00067     virtual     void            release() = 0;
00068 
00069 
00075     virtual     PxArticulation& getArticulation() const = 0;
00076 
00084     virtual     PxArticulationJoint*    getInboundJoint() const = 0;
00085 
00093     virtual     PxU32           getNbChildren() const = 0;
00094 
00105     virtual     PxU32           getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00106 
00107     virtual     const char*     getConcreteTypeName() const                 {   return "PxArticulationLink"; }
00108 
00109 protected:
00110     PX_INLINE                   PxArticulationLink(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {}
00111     PX_INLINE                   PxArticulationLink(PxBaseFlags baseFlags) : PxRigidBody(baseFlags)  {}
00112     virtual                     ~PxArticulationLink()   {}
00113     virtual     bool            isKindOf(const char* name)  const       {   return !::strcmp("PxArticulationLink", name) || PxRigidBody::isKindOf(name);        }
00114 };
00115 
00116 #if !PX_DOXYGEN
00117 } // namespace physx
00118 #endif
00119 
00121 #endif