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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_SPHERICALJOINT_H
00032 #define PX_SPHERICALJOINT_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 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 
00095 class PxSphericalJoint: public PxJoint
00096 {
00097 public:
00098     static const PxJointType::Enum Type = PxJointType::eSPHERICAL;
00099 
00100 
00112     virtual PxJointLimitCone    getLimitCone() const                                    = 0;
00113 
00122     virtual void                setLimitCone(const PxJointLimitCone &limit)         = 0;
00123 
00134     virtual void                    setSphericalJointFlags(PxSphericalJointFlags flags) = 0;
00135 
00145     virtual void                    setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;
00146 
00155     virtual PxSphericalJointFlags   getSphericalJointFlags(void)                    const   = 0;
00156 
00176     virtual void                setProjectionLinearTolerance(PxReal tolerance)          = 0;
00177 
00178 
00187     virtual PxReal              getProjectionLinearTolerance()          const           = 0;
00188 
00189     virtual const char*         getConcreteTypeName() const             {   return "PxSphericalJoint"; }
00190 
00191 protected:
00192     PxSphericalJoint(PxRefResolver& v)  : PxJoint(v)    {}
00193     PxSphericalJoint()                                  {}
00194     virtual bool                isKindOf(const char* name)  const       {   return !strcmp("PxSphericalJoint", name) || PxJoint::isKindOf(name); }
00195 };
00196 
00197 #ifndef PX_DOXYGEN
00198 } // namespace physx
00199 #endif
00200 
00202 #endif