PxArticulation.h
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All rights reserved. 00029 00030 00031 #ifndef PX_PHYSICS_NX_ARTICULATION 00032 #define PX_PHYSICS_NX_ARTICULATION 00033 00036 #include "PxPhysXConfig.h" 00037 #include "common/PxBase.h" 00038 00039 #if !PX_DOXYGEN 00040 namespace physx 00041 { 00042 #endif 00043 00044 class PxArticulationLink; 00045 00053 class PxArticulationDriveCache 00054 { 00055 protected: 00056 PxArticulationDriveCache(); 00057 }; 00058 00069 class PxArticulation : public PxBase 00070 { 00071 public: 00079 virtual void release() = 0; 00080 00088 virtual PxScene* getScene() const = 0; 00089 00090 00103 virtual void setMaxProjectionIterations(PxU32 iterations) = 0; 00104 00113 virtual PxU32 getMaxProjectionIterations() const = 0; 00114 00126 virtual void setSeparationTolerance(PxReal tolerance) = 0; 00127 00136 virtual PxReal getSeparationTolerance() const = 0; 00137 00138 00151 virtual void setInternalDriveIterations(PxU32 iterations) = 0; 00152 00161 virtual PxU32 getInternalDriveIterations() const = 0; 00162 00163 00177 virtual void setExternalDriveIterations(PxU32 iterations) = 0; 00178 00187 virtual PxU32 getExternalDriveIterations() const = 0; 00188 00189 00190 00207 virtual void setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0; 00208 00214 virtual void getSolverIterationCounts(PxU32 & minPositionIters, PxU32 & minVelocityIters) const = 0; 00215 00248 virtual bool isSleeping() const = 0; 00249 00259 virtual void setSleepThreshold(PxReal threshold) = 0; 00260 00268 virtual PxReal getSleepThreshold() const = 0; 00269 00283 virtual void setStabilizationThreshold(PxReal threshold) = 0; 00284 00294 virtual PxReal getStabilizationThreshold() const = 0; 00295 00311 virtual void setWakeCounter(PxReal wakeCounterValue) = 0; 00312 00320 virtual PxReal getWakeCounter() const = 0; 00321 00333 virtual void wakeUp() = 0; 00334 00346 virtual void putToSleep() = 0; 00347 00360 virtual PxArticulationLink* createLink(PxArticulationLink* parent, const PxTransform& pose) = 0; 00361 00362 00367 virtual PxU32 getNbLinks() const = 0; 00368 00382 virtual PxU32 getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0; 00383 00394 virtual void setName(const char* name) = 0; 00395 00403 virtual const char* getName() const = 0; 00404 00414 virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0; 00415 00423 virtual PxAggregate* getAggregate() const = 0; 00424 00439 virtual PxArticulationDriveCache* 00440 createDriveCache(PxReal compliance, PxU32 driveIterations) const = 0; 00441 00442 00455 virtual void updateDriveCache(PxArticulationDriveCache& driveCache, 00456 PxReal compliance, 00457 PxU32 driveIterations) const = 0; 00458 00466 virtual void releaseDriveCache(PxArticulationDriveCache& driveCache) const = 0; 00467 00481 virtual void applyImpulse(PxArticulationLink* link, 00482 const PxArticulationDriveCache& driveCache, 00483 const PxVec3& linearImpulse, 00484 const PxVec3& angularImpulse) = 0; 00485 00503 virtual void computeImpulseResponse(PxArticulationLink*link, 00504 PxVec3& linearResponse, 00505 PxVec3& angularResponse, 00506 const PxArticulationDriveCache& driveCache, 00507 const PxVec3& linearImpulse, 00508 const PxVec3& angularImpulse) const = 0; 00509 00510 00511 //public variables: 00512 void* userData; 00513 00514 virtual const char* getConcreteTypeName() const { return "PxArticulation"; } 00515 00516 protected: 00517 PX_INLINE PxArticulation(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {} 00518 PX_INLINE PxArticulation(PxBaseFlags baseFlags) : PxBase(baseFlags) {} 00519 virtual ~PxArticulation() {} 00520 virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulation", name) || PxBase::isKindOf(name); } 00521 00522 00523 }; 00524 00525 #if !PX_DOXYGEN 00526 } // namespace physx 00527 #endif 00528 00530 #endif
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