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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_LINK |
32 | #define PX_PHYSICS_NX_ARTICULATION_LINK |
33 | /** \addtogroup physics |
34 | @{ */ |
35 | |
36 | #include "PxPhysXConfig.h" |
37 | #include "PxArticulationJoint.h" |
38 | #include "PxRigidBody.h" |
39 | |
40 | #if !PX_DOXYGEN |
41 | namespace physx |
42 | { |
43 | #endif |
44 | |
45 | class PxArticulationBase; |
46 | |
47 | /** |
48 | \brief a component of an articulation that represents a rigid body |
49 | |
50 | A limited subset of the properties of PxRigidDynamic are supported. In particular, sleep properties |
51 | are attributes of the articulation rather than each individual body, damping and velocity limits |
52 | are not supported, and links may not be kinematic. |
53 | |
54 | @see PxArticulation PxArticulation.createLink PxArticulationJoint PxRigidBody |
55 | */ |
56 | |
57 | class PxArticulationLink : public PxRigidBody |
58 | { |
59 | public: |
60 | /** |
61 | \brief Deletes the articulation link. |
62 | |
63 | \note Only a leaf articulation link can be released |
64 | |
65 | Do not keep a reference to the deleted instance. |
66 | |
67 | @see PxArticulation::createLink() |
68 | */ |
69 | virtual void release() = 0; |
70 | |
71 | /** |
72 | \brief get the articulation to which this articulation link belongs. This returns the base class. The application should |
73 | establish which articulation implementation this actually is and upcast to that type to access non-common functionality |
74 | |
75 | \return the articulation to which this link belongs |
76 | */ |
77 | virtual PxArticulationBase& getArticulation() const = 0; |
78 | |
79 | /** |
80 | \brief Get the joint which connects this link to its parent. |
81 | |
82 | \return The joint connecting the link to the parent. NULL for the root link. |
83 | |
84 | @see PxArticulationJoint |
85 | */ |
86 | virtual PxArticulationJointBase* getInboundJoint() const = 0; |
87 | |
88 | /** |
89 | \brief Get the degree of freedom of the joint which connects this link to its parent. |
90 | |
91 | \return The degree of freeedom of the joint connecting the link to the parent. 0xffffffff for the root link. |
92 | |
93 | @see PxArticulationJoint |
94 | */ |
95 | virtual PxU32 getInboundJointDof() const = 0; |
96 | |
97 | /** |
98 | \brief Get number of child links. |
99 | |
100 | \return the number of child links |
101 | |
102 | @see getChildren() |
103 | */ |
104 | virtual PxU32 getNbChildren() const = 0; |
105 | |
106 | /** |
107 | \brief Get low-level link index |
108 | |
109 | \return low-level index |
110 | */ |
111 | virtual PxU32 getLinkIndex() const = 0; |
112 | |
113 | /** |
114 | \brief Retrieve all the child links. |
115 | |
116 | \param[out] userBuffer The buffer to receive articulation link pointers. |
117 | \param[in] bufferSize Size of provided user buffer. |
118 | \return Number of articulation links written to the buffer. |
119 | \param[in] startIndex Index of first child pointer to be retrieved |
120 | |
121 | @see getNbChildren() |
122 | */ |
123 | virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0; |
124 | |
125 | virtual const char* getConcreteTypeName() const { return "PxArticulationLink" ; } |
126 | |
127 | protected: |
128 | PX_INLINE PxArticulationLink(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {} |
129 | PX_INLINE PxArticulationLink(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {} |
130 | virtual ~PxArticulationLink() {} |
131 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxArticulationLink" , s2: name) || PxRigidBody::isKindOf(name); } |
132 | }; |
133 | |
134 | #if !PX_DOXYGEN |
135 | } // namespace physx |
136 | #endif |
137 | |
138 | /** @} */ |
139 | #endif |
140 | |