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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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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_REVOLUTEJOINT_H
00032 #define PX_REVOLUTEJOINT_H
00033 
00037 #include "extensions/PxJoint.h"
00038 #include "extensions/PxJointLimit.h"
00039 
00040 #ifndef PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045 class PxRevoluteJoint;
00046 
00059 PxRevoluteJoint*    PxRevoluteJointCreate(PxPhysics& physics, 
00060                                           PxRigidActor* actor0, const PxTransform& localFrame0, 
00061                                           PxRigidActor* actor1, const PxTransform& localFrame1);
00062 
00063 
00070 struct PxRevoluteJointFlag
00071 {
00072     enum Enum
00073     {
00074         eLIMIT_ENABLED          = 1<<0,     //< enable the limit
00075         eDRIVE_ENABLED          = 1<<1,     //< enable the drive
00076         eDRIVE_FREESPIN         = 1<<2      //< if the existing velocity is beyond the drive velocity, do not add force
00077     };
00078 };
00079 
00080 typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
00081 PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16);
00082 
00083 
00107 class PxRevoluteJoint: public PxJoint
00108 {
00109 public:
00110     static const PxJointType::Enum Type = PxJointType::eREVOLUTE;
00111 
00122     virtual void            setLimit(const PxJointLimitPair& limits)            = 0;
00123 
00131     virtual PxJointLimitPair getLimit()                 const           = 0;
00132 
00133 
00153     virtual void            setDriveVelocity(PxReal velocity)           = 0;
00154 
00162     virtual PxReal          getDriveVelocity()          const           = 0;
00163 
00164 
00175     virtual void            setDriveForceLimit(PxReal limit)            = 0;
00176 
00184     virtual PxReal          getDriveForceLimit()        const           = 0;
00185 
00186 
00200     virtual void            setDriveGearRatio(PxReal ratio)         = 0;
00201 
00209     virtual PxReal          getDriveGearRatio()     const           = 0;
00210 
00211 
00222     virtual void                    setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
00223 
00233     virtual void                    setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
00234 
00243     virtual PxRevoluteJointFlags    getRevoluteJointFlags(void)                 const   = 0;
00244 
00264     virtual void                setProjectionLinearTolerance(PxReal tolerance)                  = 0;
00265 
00266 
00275     virtual PxReal              getProjectionLinearTolerance()          const                   = 0;
00276 
00296     virtual void                setProjectionAngularTolerance(PxReal tolerance)                 = 0;
00297 
00306     virtual PxReal              getProjectionAngularTolerance()         const                   = 0;
00307 
00308 
00309     virtual const char*         getConcreteTypeName() const             {   return "PxRevoluteJoint"; }
00310 
00311 protected:
00312     PxRevoluteJoint(PxRefResolver& v)   : PxJoint(v)    {}
00313     PxRevoluteJoint()                                   {}
00314     virtual bool                isKindOf(const char* name)  const       {   return !strcmp("PxRevoluteJoint", name) || PxJoint::isKindOf(name); }
00315 };
00316 
00317 #ifndef PX_DOXYGEN
00318 } // namespace physx
00319 #endif
00320 
00322 #endif