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25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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 |
42 | namespace 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 | |