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29
30#ifndef PX_FIXEDJOINT_H
31#define PX_FIXEDJOINT_H
32/** \addtogroup extensions
33 @{
34*/
35
36#include "extensions/PxJoint.h"
37
38#if !PX_DOXYGEN
39namespace physx
40{
41#endif
42
43class PxFixedJoint;
44
45/**
46\brief Create a fixed joint.
47
48 \param[in] physics The physics SDK
49 \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
50 \param[in] localFrame0 The position and orientation of the joint relative to actor0
51 \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
52 \param[in] localFrame1 The position and orientation of the joint relative to actor1
53
54@see PxFixedJoint
55*/
56PxFixedJoint* PxFixedJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
57
58/**
59 \brief A fixed joint permits no relative movement between two bodies. ie the bodies are glued together.
60
61 \image html fixedJoint.png
62
63 @see PxFixedJointCreate() PxJoint
64*/
65class PxFixedJoint : public PxJoint
66{
67public:
68
69 /**
70 \brief Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION
71 is set for the joint.
72
73 If the joint separates by more than this distance along its locked degrees of freedom, the solver
74 will move the bodies to close the distance.
75
76 Setting a very small tolerance may result in simulation jitter or other artifacts.
77
78 Sometimes it is not possible to project (for example when the joints form a cycle).
79
80 <b>Range:</b> [0, PX_MAX_F32)<br>
81 <b>Default:</b> 1e10f
82
83 \param[in] tolerance the linear tolerance threshold
84
85 @see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION
86 */
87 virtual void setProjectionLinearTolerance(PxReal tolerance) = 0;
88
89 /**
90 \brief Get the linear tolerance threshold for projection.
91
92 \return the linear tolerance threshold
93
94 @see setProjectionLinearTolerance() PxJoint::setConstraintFlag()
95 */
96 virtual PxReal getProjectionLinearTolerance() const = 0;
97
98 /**
99 \brief Set the angular tolerance threshold for projection. Projection is enabled if
100 PxConstraintFlag::ePROJECTION is set for the joint.
101
102 If the joint deviates by more than this angle around its locked angular degrees of freedom,
103 the solver will move the bodies to close the angle.
104
105 Setting a very small tolerance may result in simulation jitter or other artifacts.
106
107 Sometimes it is not possible to project (for example when the joints form a cycle).
108
109 <b>Range:</b> [0,Pi] <br>
110 <b>Default:</b> Pi
111
112 \param[in] tolerance the angular tolerance threshold in radians
113
114 @see getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION
115 */
116 virtual void setProjectionAngularTolerance(PxReal tolerance) = 0;
117
118 /**
119 \brief Get the angular tolerance threshold for projection.
120
121 \return the angular tolerance threshold in radians
122
123 @see setProjectionAngularTolerance()
124 */
125 virtual PxReal getProjectionAngularTolerance() const = 0;
126
127 /**
128 \brief Returns string name of PxFixedJoint, used for serialization
129 */
130 virtual const char* getConcreteTypeName() const { return "PxFixedJoint"; }
131
132protected:
133
134 //serialization
135
136 /**
137 \brief Constructor
138 */
139 PX_INLINE PxFixedJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
140
141 /**
142 \brief Deserialization constructor
143 */
144 PX_INLINE PxFixedJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
145
146 /**
147 \brief Returns whether a given type name matches with the type of this instance
148 */
149 virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxFixedJoint", s2: name) || PxJoint::isKindOf(name); }
150
151 //~serialization
152};
153
154#if !PX_DOXYGEN
155} // namespace physx
156#endif
157
158/** @} */
159#endif
160

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