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28// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
29
30#ifndef PX_CONTACTJOINT_H
31#define PX_CONTACTJOINT_H
32
33#include "extensions/PxJoint.h"
34
35#if !PX_DOXYGEN
36namespace physx
37{
38#endif
39
40 class PxContactJoint;
41
42 /**
43 \brief Create a distance Joint.
44
45 \param[in] physics The physics SDK
46 \param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
47 \param[in] localFrame0 The position and orientation of the joint relative to actor0
48 \param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
49 \param[in] localFrame1 The position and orientation of the joint relative to actor1
50
51 @see PxContactJoint
52 */
53 PxContactJoint* PxContactJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
54
55 /**
56 \brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
57
58 @see PxContactJointCreate PxJoint
59 */
60
61 struct PxJacobianRow
62 {
63 PxVec3 linear0;
64 PxVec3 linear1;
65 PxVec3 angular0;
66 PxVec3 angular1;
67
68 PxJacobianRow(){}
69
70 PxJacobianRow(const PxVec3& lin0, const PxVec3& lin1, const PxVec3& ang0, const PxVec3& ang1) :
71 linear0(lin0), linear1(lin1), angular0(ang0), angular1(ang1)
72 {
73
74 }
75
76 void operator *= (const PxReal scale)
77 {
78 linear0 *= scale;
79 linear1 *= scale;
80 angular0 *= scale;
81 angular1 *= scale;
82 }
83
84 PxJacobianRow operator * (const PxReal scale) const
85 {
86 return PxJacobianRow(linear0*scale, linear1*scale, angular0*scale, angular1*scale);
87 }
88 };
89
90 /**
91 \brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
92
93 @see PxContactJointCreate PxJoint
94 */
95 class PxContactJoint : public PxJoint
96 {
97 public:
98
99 /**
100 \brief Set the current contact of the joint
101 */
102 virtual void setContact(const PxVec3& contact) = 0;
103
104 /**
105 \brief Set the current contact normal of the joint
106 */
107 virtual void setContactNormal(const PxVec3& contactNormal) = 0;
108
109 /**
110 \brief Set the current penetration of the joint
111 */
112 virtual void setPenetration(const PxReal penetration) = 0;
113
114 /**
115 \brief Return the current contact of the joint
116 */
117 virtual PxVec3 getContact() const = 0;
118
119 /**
120 \brief Return the current contact normal of the joint
121 */
122 virtual PxVec3 getContactNormal() const = 0;
123
124 /**
125 \brief Return the current penetration value of the joint
126 */
127 virtual PxReal getPenetration() const = 0;
128
129 virtual PxReal getResititution() const = 0;
130 virtual void setResititution(const PxReal resititution) = 0;
131 virtual PxReal getBounceThreshold() const = 0;
132 virtual void setBounceThreshold(const PxReal bounceThreshold) = 0;
133
134 /**
135 \brief Returns string name of PxContactJoint, used for serialization
136 */
137 virtual const char* getConcreteTypeName() const { return "PxContactJoint"; }
138
139 virtual void computeJacobians(PxJacobianRow* jacobian) const = 0;
140 virtual PxU32 getNbJacobianRows() const = 0;
141
142 protected:
143 //serialization
144
145 /**
146 \brief Constructor
147 */
148 PX_INLINE PxContactJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
149
150 /**
151 \brief Deserialization constructor
152 */
153 PX_INLINE PxContactJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
154
155 /**
156 \brief Returns whether a given type name matches with the type of this instance
157 */
158 virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxContactJoint", s2: name) || PxJoint::isKindOf(name); }
159
160 //~serialization
161 };
162
163#if !PX_DOXYGEN
164}
165#endif
166
167
168#endif
169

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