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00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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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_PRISMATICJOINT_H
00032 #define PX_PRISMATICJOINT_H
00033 
00037 #include "extensions/PxJoint.h"
00038 #include "extensions/PxJointLimit.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045 class PxPrismaticJoint;
00046 
00059 PxPrismaticJoint*   PxPrismaticJointCreate(PxPhysics& physics, 
00060                                            PxRigidActor* actor0, const PxTransform& localFrame0, 
00061                                            PxRigidActor* actor1, const PxTransform& localFrame1);
00062 
00063 
00070 struct PxPrismaticJointFlag
00071 {
00072     enum Enum
00073     {
00074         eLIMIT_ENABLED  = 1<<1
00075     };
00076 };
00077 
00078 typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags;
00079 PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16)
00080 
00081 
00082 
00094 class PxPrismaticJoint : public PxJoint
00095 {
00096 public:
00097     
00098 
00103     virtual PxReal          getPosition()               const               = 0;
00104 
00108     virtual PxReal          getVelocity()               const               = 0;
00109 
00118     virtual void            setLimit(const PxJointLinearLimitPair&)     = 0;
00119 
00125     virtual PxJointLinearLimitPair getLimit()           const           = 0;
00126 
00127 
00138     virtual void                    setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0;
00139 
00149     virtual void                    setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0;
00150 
00159     virtual PxPrismaticJointFlags   getPrismaticJointFlags(void)                    const   = 0;
00160 
00180     virtual void            setProjectionLinearTolerance(PxReal tolerance)                  = 0;
00181 
00190     virtual PxReal          getProjectionLinearTolerance()          const                   = 0;
00191 
00211     virtual void            setProjectionAngularTolerance(PxReal tolerance)                 = 0;
00212 
00218     virtual PxReal          getProjectionAngularTolerance()         const                   = 0;
00219 
00223     virtual const char*     getConcreteTypeName() const { return "PxPrismaticJoint"; }
00224 
00225 protected:
00226     //serialization
00227     
00231     PX_INLINE               PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
00232 
00236     PX_INLINE               PxPrismaticJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
00237     
00241     virtual bool            isKindOf(const char* name) const {  return !::strcmp("PxPrismaticJoint", name) || PxJoint::isKindOf(name); }
00242     
00243     //~serialization
00244 };
00245 
00246 #if !PX_DOXYGEN
00247 } // namespace physx
00248 #endif
00249 
00251 #endif