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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 | #ifndef PX_CONTACTJOINT_H |
31 | #define PX_CONTACTJOINT_H |
32 | |
33 | #include "extensions/PxJoint.h" |
34 | |
35 | #if !PX_DOXYGEN |
36 | namespace 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 | |