NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxSphericalJoint.h Source File

NVIDIA PhysX SDK 3.4 API

PxSphericalJoint.h

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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_SPHERICALJOINT_H
00032 #define PX_SPHERICALJOINT_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 PxSphericalJoint;
00046 
00059 PxSphericalJoint*   PxSphericalJointCreate(PxPhysics& physics, 
00060                                            PxRigidActor* actor0, const PxTransform& localFrame0, 
00061                                            PxRigidActor* actor1, const PxTransform& localFrame1);
00062 
00063 
00070 struct PxSphericalJointFlag
00071 {
00072     enum Enum
00073     {
00074         eLIMIT_ENABLED  = 1<<1          
00075     };
00076 };
00077 typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
00078 PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)
00079 
00080 
00095 class PxSphericalJoint : public PxJoint
00096 {
00097 public:
00098     
00099 
00111     virtual PxJointLimitCone    getLimitCone() const                                    = 0;
00112 
00121     virtual void                setLimitCone(const PxJointLimitCone &limit)         = 0;
00122 
00133     virtual void                setSphericalJointFlags(PxSphericalJointFlags flags) = 0;
00134 
00144     virtual void                setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;
00145 
00154     virtual PxSphericalJointFlags   getSphericalJointFlags(void)                    const   = 0;
00155 
00175     virtual void                setProjectionLinearTolerance(PxReal tolerance)          = 0;
00176 
00177 
00186     virtual PxReal              getProjectionLinearTolerance()          const           = 0;
00187 
00191     virtual const char*         getConcreteTypeName() const { return "PxSphericalJoint"; }
00192 
00193 protected:
00194 
00195     //serialization
00196 
00200     PX_INLINE                   PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
00201 
00205     PX_INLINE                   PxSphericalJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags)    {}
00206 
00210     virtual bool                isKindOf(const char* name) const { return !::strcmp("PxSphericalJoint", name) || PxJoint::isKindOf(name); }
00211 
00212     //~serialization
00213 
00214 };
00215 
00216 #if !PX_DOXYGEN
00217 } // namespace physx
00218 #endif
00219 
00221 #endif


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