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00003 //
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00007 // any modifications thereto. Any use, reproduction, disclosure, or 
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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,
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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) 2008-2012 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
00032 #define PX_PHYSICS_NX_ARTICULATION
00033 
00036 #include "PxPhysX.h"
00037 #include "common/PxSerialFramework.h"
00038 
00039 #ifndef PX_DOXYGEN
00040 namespace physx
00041 {
00042 #endif
00043 
00044 class PxArticulationLink;
00045 
00054 class PxArticulationDriveCache;
00055 
00067 class PxArticulation : public PxSerializable
00068 {
00069 public:
00077     virtual     void            release() = 0;
00078 
00086     virtual     PxScene*        getScene()  const = 0;
00087 
00088 
00101     virtual     void            setMaxProjectionIterations(PxU32 iterations) = 0;
00102 
00111     virtual     PxU32           getMaxProjectionIterations() const = 0;
00112 
00124     virtual     void            setSeparationTolerance(PxReal tolerance) = 0;
00125 
00134     virtual     PxReal          getSeparationTolerance() const = 0;
00135 
00136 
00149     virtual     void            setInternalDriveIterations(PxU32 iterations) = 0;
00150 
00159     virtual     PxU32           getInternalDriveIterations() const = 0;
00160 
00161 
00175     virtual     void            setExternalDriveIterations(PxU32 iterations) = 0;
00176 
00185     virtual     PxU32           getExternalDriveIterations() const = 0;
00186 
00187 
00188 
00203     virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
00204 
00210     virtual     void                getSolverIterationCounts(PxU32 & minPositionIters, PxU32 & minVelocityIters) const = 0;
00211 
00226     virtual     bool                isSleeping() const = 0;
00227 
00237     virtual     void                setSleepThreshold(PxReal threshold) = 0;
00238 
00246     virtual     PxReal              getSleepThreshold() const = 0;
00247 
00258     virtual     void                wakeUp(PxReal wakeCounterValue=PX_SLEEP_INTERVAL)   = 0;
00259 
00269     virtual     void                putToSleep()    = 0;
00270 
00271 
00272 
00285     virtual         PxArticulationLink*         createLink(PxArticulationLink* parent, const PxTransform& pose) = 0;
00286 
00287 
00292     virtual     PxU32           getNbLinks() const = 0;
00293 
00306     virtual     PxU32           getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize) const = 0;
00307 
00318     virtual     void            setName(const char* name)       = 0;
00319 
00327     virtual     const char*     getName()           const   = 0;
00328 
00336     virtual     PxBounds3       getWorldBounds() const = 0;
00337 
00345     virtual     PxAggregate*    getAggregate() const = 0;
00346 
00361     virtual     PxArticulationDriveCache* 
00362                                 createDriveCache(PxReal compliance, PxU32 driveIterations) const = 0;
00363 
00371     virtual     void            releaseDriveCache(PxArticulationDriveCache& driveCache) const = 0;
00372 
00386     virtual     void            applyImpulse(PxArticulationLink* link,
00387                                              const PxArticulationDriveCache& driveCache,
00388                                              const PxVec3& linearImpulse,
00389                                              const PxVec3& angularImpulse) = 0;
00390 
00408     virtual     void            computeImpulseResponse(PxArticulationLink*link,
00409                                                        PxVec3& linearResponse, 
00410                                                        PxVec3& angularResponse,
00411                                                        const PxArticulationDriveCache& driveCache,
00412                                                        const PxVec3& linearImpulse,
00413                                                        const PxVec3& angularImpulse) const = 0;
00414 
00415 
00416     //public variables:
00417                 void*           userData;   
00418 
00419     virtual     const char*     getConcreteTypeName() const                 {   return "PxArticulation"; }
00420 
00421 protected:
00422                                 PxArticulation(PxRefResolver& v) : PxSerializable(v)    {}
00423     PX_INLINE                   PxArticulation() {}
00424     virtual                     ~PxArticulation()   {}
00425     virtual     bool            isKindOf(const char* name)  const       {   return !strcmp("PxArticulation", name) || PxSerializable::isKindOf(name); }
00426 
00427 
00428 };
00429 
00430 #ifndef PX_DOXYGEN
00431 } // namespace physx
00432 #endif
00433 
00435 #endif