PxArticulationJoint.h
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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
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