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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_PRISMATICJOINT_H |
31 | #define PX_PRISMATICJOINT_H |
32 | /** \addtogroup extensions |
33 | @{ |
34 | */ |
35 | |
36 | #include "extensions/PxJoint.h" |
37 | #include "extensions/PxJointLimit.h" |
38 | |
39 | #if !PX_DOXYGEN |
40 | namespace physx |
41 | { |
42 | #endif |
43 | |
44 | class PxPrismaticJoint; |
45 | |
46 | /** |
47 | \brief Create a prismatic joint. |
48 | |
49 | \param[in] physics The physics SDK |
50 | \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 |
51 | \param[in] localFrame0 The position and orientation of the joint relative to actor0 |
52 | \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 |
53 | \param[in] localFrame1 The position and orientation of the joint relative to actor1 |
54 | |
55 | @see PxPrismaticJoint |
56 | */ |
57 | PxPrismaticJoint* PxPrismaticJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1); |
58 | |
59 | |
60 | /** |
61 | \brief Flags specific to the prismatic joint. |
62 | |
63 | @see PxPrismaticJoint |
64 | */ |
65 | struct PxPrismaticJointFlag |
66 | { |
67 | enum Enum |
68 | { |
69 | eLIMIT_ENABLED = 1<<1 |
70 | }; |
71 | }; |
72 | |
73 | typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags; |
74 | PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16) |
75 | |
76 | /** |
77 | \brief A prismatic joint permits relative translational movement between two bodies along |
78 | an axis, but no relative rotational movement. |
79 | |
80 | the axis on each body is defined as the line containing the origin of the joint frame and |
81 | extending along the x-axis of that frame |
82 | |
83 | \image html prismJoint.png |
84 | |
85 | @see PxPrismaticJointCreate() PxJoint |
86 | */ |
87 | class PxPrismaticJoint : public PxJoint |
88 | { |
89 | public: |
90 | |
91 | /** |
92 | \brief returns the displacement of the joint along its axis. |
93 | */ |
94 | virtual PxReal getPosition() const = 0; |
95 | |
96 | /** |
97 | \brief returns the velocity of the joint along its axis |
98 | */ |
99 | virtual PxReal getVelocity() const = 0; |
100 | |
101 | /** |
102 | \brief sets the joint limit parameters. |
103 | |
104 | The limit range is [-PX_MAX_F32, PX_MAX_F32], but note that the width of the limit (upper-lower) must also be |
105 | a valid float. |
106 | |
107 | @see PxJointLinearLimitPair getLimit() |
108 | */ |
109 | virtual void setLimit(const PxJointLinearLimitPair&) = 0; |
110 | |
111 | /** |
112 | \brief gets the joint limit parameters. |
113 | |
114 | @see PxJointLinearLimit getLimit() |
115 | */ |
116 | virtual PxJointLinearLimitPair getLimit() const = 0; |
117 | |
118 | /** |
119 | \brief Set the flags specific to the Prismatic Joint. |
120 | |
121 | <b>Default</b> PxPrismaticJointFlags(0) |
122 | |
123 | \param[in] flags The joint flags. |
124 | |
125 | @see PxPrismaticJointFlag setFlag() getFlags() |
126 | */ |
127 | virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0; |
128 | |
129 | /** |
130 | \brief Set a single flag specific to a Prismatic Joint to true or false. |
131 | |
132 | \param[in] flag The flag to set or clear. |
133 | \param[in] value The value to which to set the flag |
134 | |
135 | @see PxPrismaticJointFlag, getFlags() setFlags() |
136 | */ |
137 | virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0; |
138 | |
139 | /** |
140 | \brief Get the flags specific to the Prismatic Joint. |
141 | |
142 | \return the joint flags |
143 | |
144 | @see PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags() |
145 | */ |
146 | virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0; |
147 | |
148 | /** |
149 | \brief Set the linear tolerance threshold for projection. |
150 | |
151 | If the joint separates by more than this distance along its locked degrees of freedom, the solver |
152 | will move the bodies to close the distance. |
153 | |
154 | Setting a very small tolerance may result in simulation jitter or other artifacts. |
155 | |
156 | Sometimes it is not possible to project (for example when the joints form a cycle). |
157 | |
158 | This value must be nonnegative. |
159 | |
160 | <b>Range:</b> [0, PX_MAX_F32)<br> |
161 | <b>Default:</b> 1e10f |
162 | |
163 | \param[in] tolerance the linear tolerance threshold |
164 | |
165 | @see getProjectionLinearTolerance() |
166 | */ |
167 | virtual void setProjectionLinearTolerance(PxReal tolerance) = 0; |
168 | |
169 | /** |
170 | \brief Get the linear tolerance threshold for projection. |
171 | |
172 | \return the linear tolerance threshold in radians |
173 | |
174 | @see setProjectionLinearTolerance() |
175 | */ |
176 | virtual PxReal getProjectionLinearTolerance() const = 0; |
177 | |
178 | /** |
179 | \brief Set the angular tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION |
180 | is set for the joint. |
181 | |
182 | If the joint separates by more than this distance along its locked degrees of freedom, the solver |
183 | will move the bodies to close the distance. |
184 | |
185 | Setting a very small tolerance may result in simulation jitter or other artifacts. |
186 | |
187 | Sometimes it is not possible to project (for example when the joints form a cycle). |
188 | |
189 | <b>Range:</b> [0, PX_MAX_F32)<br> |
190 | <b>Default:</b> Pi |
191 | |
192 | \param[in] tolerance the linear tolerance threshold |
193 | |
194 | @see getProjectionLinearTolerance() PxJoint::setConstraintFlags() |
195 | */ |
196 | virtual void setProjectionAngularTolerance(PxReal tolerance) = 0; |
197 | |
198 | /** |
199 | \brief Get the angular tolerance threshold for projection. |
200 | |
201 | @see getProjectionAngularTolerance() |
202 | */ |
203 | virtual PxReal getProjectionAngularTolerance() const = 0; |
204 | |
205 | /** |
206 | \brief Returns string name of PxPrismaticJoint, used for serialization |
207 | */ |
208 | virtual const char* getConcreteTypeName() const { return "PxPrismaticJoint" ; } |
209 | |
210 | protected: |
211 | //serialization |
212 | |
213 | /** |
214 | \brief Constructor |
215 | */ |
216 | PX_INLINE PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {} |
217 | |
218 | /** |
219 | \brief Deserialization constructor |
220 | */ |
221 | PX_INLINE PxPrismaticJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {} |
222 | |
223 | /** |
224 | \brief Returns whether a given type name matches with the type of this instance |
225 | */ |
226 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxPrismaticJoint" , s2: name) || PxJoint::isKindOf(name); } |
227 | |
228 | //~serialization |
229 | }; |
230 | |
231 | #if !PX_DOXYGEN |
232 | } // namespace physx |
233 | #endif |
234 | |
235 | /** @} */ |
236 | #endif |
237 | |