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29
30
31#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT_RC
32#define PX_PHYSICS_NX_ARTICULATION_JOINT_RC
33/** \addtogroup physics
34@{ */
35
36#if 1
37#include "PxPhysXConfig.h"
38#include "common/PxBase.h"
39#include "PxArticulationJoint.h"
40
41#if !PX_DOXYGEN
42namespace physx
43{
44#endif
45
46 /**
47 \brief a joint between two links in an articulation.
48
49 The joint model is very similar to a PxSphericalJoint with swing and twist limits,
50 and an implicit drive model.
51
52 @see PxArticulation PxArticulationLink
53 */
54
55 class PxArticulationJointReducedCoordinate : public PxArticulationJointBase
56 {
57 public:
58
59 virtual void setJointType(PxArticulationJointType::Enum jointType) = 0;
60 virtual PxArticulationJointType::Enum getJointType() const = 0;
61
62 virtual void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;
63 virtual PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const = 0;
64
65 virtual void setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit) = 0;
66 virtual void getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit) = 0;
67 virtual void setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType = PxArticulationDriveType::eFORCE) = 0;
68 virtual void getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) = 0;
69 virtual void setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target) = 0;
70 virtual void setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel) = 0;
71 virtual PxReal getDriveTarget(PxArticulationAxis::Enum axis) = 0;
72 virtual PxReal getDriveVelocity(PxArticulationAxis::Enum axis) = 0;
73
74 virtual void setFrictionCoefficient(const PxReal coefficient) = 0;
75 virtual PxReal getFrictionCoefficient() const = 0;
76 virtual const char* getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }
77
78 virtual void setMaxJointVelocity(const PxReal maxJointV) = 0;
79 virtual PxReal getMaxJointVelocity() const = 0;
80
81 protected:
82 PX_INLINE PxArticulationJointReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationJointBase(concreteType, baseFlags) {}
83 PX_INLINE PxArticulationJointReducedCoordinate(PxBaseFlags baseFlags) : PxArticulationJointBase(baseFlags) {}
84 virtual ~PxArticulationJointReducedCoordinate() {}
85 virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxArticulationJointReducedCoordinate", s2: name) || PxBase::isKindOf(superClass: name); }
86 };
87
88#if !PX_DOXYGEN
89} // namespace physx
90#endif
91
92#endif
93
94 /** @} */
95#endif
96

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