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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_FIXEDJOINT_H |
31 | #define PX_FIXEDJOINT_H |
32 | /** \addtogroup extensions |
33 | @{ |
34 | */ |
35 | |
36 | #include "extensions/PxJoint.h" |
37 | |
38 | #if !PX_DOXYGEN |
39 | namespace physx |
40 | { |
41 | #endif |
42 | |
43 | class 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 | */ |
56 | PxFixedJoint* 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 | */ |
65 | class PxFixedJoint : public PxJoint |
66 | { |
67 | public: |
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 | |
132 | protected: |
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 | |