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29
30
31#ifndef PX_PHYSICS_NX_ARTICULATION_BASE
32#define PX_PHYSICS_NX_ARTICULATION_BASE
33/** \addtogroup physics
34@{ */
35
36#include "PxPhysXConfig.h"
37#include "common/PxBase.h"
38
39#if !PX_DOXYGEN
40namespace physx
41{
42#endif
43
44 class PxArticulationImpl;
45
46 /**
47 \brief a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver
48
49 Articulations are more expensive to simulate than the equivalent collection of
50 PxRigidDynamic and PxJoint structures, but because the dynamics solver treats
51 each articulation as a single object, they are much less prone to separation and
52 have better support for actuation. An articulation may have at most 64 links.
53
54 @see PxArticulationJoint PxArticulationLink PxPhysics.createArticulation
55 */
56 class PxArticulationBase : public PxBase
57 {
58 public:
59
60 /**
61 \brief Retrieves the scene which this articulation belongs to.
62
63 \return Owner Scene. NULL if not part of a scene.
64
65 @see PxScene
66 */
67 virtual PxScene* getScene() const = 0;
68
69 /**
70 \brief Sets the solver iteration counts for the articulation.
71
72 The solver iteration count determines how accurately joints and contacts are resolved.
73 If you are having trouble with jointed bodies oscillating and behaving erratically, then
74 setting a higher position iteration count may improve their stability.
75
76 If intersecting bodies are being depenetrated too violently, increase the number of velocity
77 iterations. More velocity iterations will drive the relative exit velocity of the intersecting
78 objects closer to the correct value given the restitution.
79
80 \param[in] minPositionIters Number of position iterations the solver should perform for this articulation. <b>Range:</b> [1,255]
81 \param[in] minVelocityIters Number of velocity iterations the solver should perform for this articulation. <b>Range:</b> [1,255]
82
83 @see getSolverIterationCounts()
84 */
85 virtual void setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
86
87 /**
88 \brief Retrieves the solver iteration counts.
89
90 @see setSolverIterationCounts()
91 */
92 virtual void getSolverIterationCounts(PxU32 & minPositionIters, PxU32 & minVelocityIters) const = 0;
93
94 /**
95 \brief Returns true if this articulation is sleeping.
96
97 When an actor does not move for a period of time, it is no longer simulated in order to save time. This state
98 is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object,
99 or a sleep-affecting property is changed by the user, the entire sleep mechanism should be transparent to the user.
100
101 An articulation can only go to sleep if all links are ready for sleeping. An articulation is guaranteed to be awake
102 if at least one of the following holds:
103
104 \li The wake counter is positive (see #setWakeCounter()).
105 \li The linear or angular velocity of any link is non-zero.
106 \li A non-zero force or torque has been applied to the articulation or any of its links.
107
108 If an articulation is sleeping, the following state is guaranteed:
109
110 \li The wake counter is zero.
111 \li The linear and angular velocity of all links is zero.
112 \li There is no force update pending.
113
114 When an articulation gets inserted into a scene, it will be considered asleep if all the points above hold, else it will
115 be treated as awake.
116
117 If an articulation is asleep after the call to PxScene::fetchResults() returns, it is guaranteed that the poses of the
118 links were not changed. You can use this information to avoid updating the transforms of associated of dependent objects.
119
120 \note It is invalid to use this method if the articulation has not been added to a scene already.
121
122 \return True if the articulation is sleeping.
123
124 @see isSleeping() wakeUp() putToSleep() getSleepThreshold()
125 */
126 virtual bool isSleeping() const = 0;
127
128 /**
129 \brief Sets the mass-normalized energy threshold below which an articulation may go to sleep.
130
131 The articulation will sleep if the energy of each body is below this threshold.
132
133 \param[in] threshold Energy below which an actor may go to sleep. <b>Range:</b> [0, PX_MAX_F32)
134
135 @see isSleeping() getSleepThreshold() wakeUp() putToSleep()
136 */
137 virtual void setSleepThreshold(PxReal threshold) = 0;
138
139 /**
140 \brief Returns the mass-normalized energy below which an articulation may go to sleep.
141
142 \return The energy threshold for sleeping.
143
144 @see isSleeping() wakeUp() putToSleep() setSleepThreshold()
145 */
146 virtual PxReal getSleepThreshold() const = 0;
147
148 /**
149 \brief Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.
150
151 Articulation whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.
152
153 This value has no effect if PxSceneFlag::eENABLE_STABILIZATION was not enabled on the PxSceneDesc.
154
155 <b>Default:</b> 0.01 * PxTolerancesScale::speed * PxTolerancesScale::speed
156
157 \param[in] threshold Energy below which an actor may participate in stabilization. <b>Range:</b> [0,inf)
158
159 @see getStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION
160 */
161 virtual void setStabilizationThreshold(PxReal threshold) = 0;
162
163 /**
164 \brief Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization.
165
166 Articulations whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.
167
168 \return The energy threshold for participating in stabilization.
169
170 @see setStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION
171 */
172 virtual PxReal getStabilizationThreshold() const = 0;
173
174 /**
175 \brief Sets the wake counter for the articulation.
176
177 The wake counter value determines the minimum amount of time until the articulation can be put to sleep. Please note
178 that an articulation will not be put to sleep if the energy is above the specified threshold (see #setSleepThreshold())
179 or if other awake objects are touching it.
180
181 \note Passing in a positive value will wake the articulation up automatically.
182
183 <b>Default:</b> 0.4 (which corresponds to 20 frames for a time step of 0.02)
184
185 \param[in] wakeCounterValue Wake counter value. <b>Range:</b> [0, PX_MAX_F32)
186
187 @see isSleeping() getWakeCounter()
188 */
189 virtual void setWakeCounter(PxReal wakeCounterValue) = 0;
190
191 /**
192 \brief Returns the wake counter of the articulation.
193
194 \return The wake counter of the articulation.
195
196 @see isSleeping() setWakeCounter()
197 */
198 virtual PxReal getWakeCounter() const = 0;
199
200 /**
201 \brief Wakes up the articulation if it is sleeping.
202
203 The articulation will get woken up and might cause other touching objects to wake up as well during the next simulation step.
204
205 \note This will set the wake counter of the articulation to the value specified in #PxSceneDesc::wakeCounterResetValue.
206
207 \note It is invalid to use this method if the articulation has not been added to a scene already.
208
209 @see isSleeping() putToSleep()
210 */
211 virtual void wakeUp() = 0;
212
213 /**
214 \brief Forces the articulation to sleep.
215
216 The articulation will stay asleep during the next simulation step if not touched by another non-sleeping actor.
217
218 \note This will set any applied force, the velocity and the wake counter of all bodies in the articulation to zero.
219
220 \note It is invalid to use this method if the articulation has not been added to a scene already.
221
222 @see isSleeping() wakeUp()
223 */
224 virtual void putToSleep() = 0;
225
226 /**
227 \brief adds a link to the articulation with default attribute values.
228
229 \param[in] parent the parent link of the articulation. Should be NULL if (and only if) this is the root link
230 \param[in] pose the initial pose of the new link. Must be a valid transform
231
232 \return the new link, or NULL if the link cannot be created because the articulation has reached
233 its maximum link count (currently 64).
234
235 @see PxArticulationLink
236 */
237 virtual PxArticulationLink* createLink(PxArticulationLink* parent, const PxTransform& pose) = 0;
238
239 /**
240 \brief returns the number of links in the articulation
241 */
242 virtual PxU32 getNbLinks() const = 0;
243
244 /**
245 \brief returns the set of links in the articulation
246
247 \param[in] userBuffer buffer into which to write an array of articulation link pointers
248 \param[in] bufferSize the size of the buffer. If this is not large enough to contain all the pointers to links,
249 only as many as will fit are written.
250 \param[in] startIndex Index of first link pointer to be retrieved
251
252 \return the number of links written into the buffer.
253
254 @see ArticulationLink
255 */
256 virtual PxU32 getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
257
258 /**
259 \brief Sets a name string for the object that can be retrieved with getName().
260
261 This is for debugging and is not used by the SDK. The string is not copied by the SDK,
262 only the pointer is stored.
263
264 \param[in] name String to set the objects name to.
265
266 @see getName()
267 */
268 virtual void setName(const char* name) = 0;
269
270 /**
271 \brief Retrieves the name string set with setName().
272
273 \return Name string associated with object.
274
275 @see setName()
276 */
277 virtual const char* getName() const = 0;
278
279 /**
280 \brief Retrieves the axis aligned bounding box enclosing the articulation.
281
282 \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
283
284 \return The articulation's bounding box.
285
286 @see PxBounds3
287 */
288 virtual PxBounds3 getWorldBounds(float inflation = 1.01f) const = 0;
289
290 /**
291 \brief Retrieves the aggregate the articulation might be a part of.
292
293 \return The aggregate the articulation is a part of, or NULL if the articulation does not belong to an aggregate.
294
295 @see PxAggregate
296 */
297 virtual PxAggregate* getAggregate() const = 0;
298
299 virtual PxArticulationImpl* getImpl() = 0;
300 virtual const PxArticulationImpl* getImpl() const = 0;
301
302 void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
303
304 virtual ~PxArticulationBase() {}
305
306 protected:
307 PX_INLINE PxArticulationBase(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
308 PX_INLINE PxArticulationBase(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
309
310 public:
311 virtual PxArticulationJointBase* createArticulationJoint(PxArticulationLink& parent, const PxTransform& parentFrame, PxArticulationLink& child, const PxTransform& childFrame) = 0;
312 virtual void releaseArticulationJoint(PxArticulationJointBase* joint) = 0;
313 };
314
315#if !PX_DOXYGEN
316} // namespace physx
317#endif
318
319 /** @} */
320#endif
321

source code of qtquick3dphysics/src/3rdparty/PhysX/include/PxArticulationBase.h