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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_SPHERICALJOINT_H |
31 | #define PX_SPHERICALJOINT_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 PxSphericalJoint; |
45 | |
46 | /** |
47 | \brief Create a spherical 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 PxSphericalJoint |
56 | */ |
57 | PxSphericalJoint* PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1); |
58 | |
59 | |
60 | /** |
61 | \brief Flags specific to the spherical joint. |
62 | |
63 | @see PxSphericalJoint |
64 | */ |
65 | struct PxSphericalJointFlag |
66 | { |
67 | enum Enum |
68 | { |
69 | eLIMIT_ENABLED = 1<<1 //!< the cone limit for the spherical joint is enabled |
70 | }; |
71 | }; |
72 | typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags; |
73 | PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16) |
74 | |
75 | /** |
76 | \brief A joint which behaves in a similar way to a ball and socket. |
77 | |
78 | A spherical joint removes all linear degrees of freedom from two objects. |
79 | |
80 | The position of the joint on each actor is specified by the origin of the body's joint frame. |
81 | |
82 | A spherical joint may have a cone limit, to restrict the motion to within a certain range. In |
83 | addition, the bodies may be projected together if the distance between them exceeds a given threshold. |
84 | |
85 | Projection, drive and limits are activated by setting the appropriate flags on the joint. |
86 | |
87 | @see PxRevoluteJointCreate() PxJoint |
88 | */ |
89 | class PxSphericalJoint : public PxJoint |
90 | { |
91 | public: |
92 | |
93 | /** |
94 | \brief Set the limit cone. |
95 | |
96 | If enabled, the limit cone will constrain the angular movement of the joint to lie |
97 | within an elliptical cone. |
98 | |
99 | \return the limit cone |
100 | |
101 | @see PxJointLimitCone setLimit() |
102 | */ |
103 | virtual PxJointLimitCone getLimitCone() const = 0; |
104 | |
105 | /** |
106 | \brief Get the limit cone. |
107 | |
108 | \param[in] limit the limit cone |
109 | |
110 | @see PxJointLimitCone getLimit() |
111 | */ |
112 | virtual void setLimitCone(const PxJointLimitCone& limit) = 0; |
113 | |
114 | /** |
115 | \brief get the swing angle of the joint from the Y axis |
116 | */ |
117 | virtual PxReal getSwingYAngle() const = 0; |
118 | |
119 | /** |
120 | \brief get the swing angle of the joint from the Z axis |
121 | */ |
122 | virtual PxReal getSwingZAngle() const = 0; |
123 | |
124 | /** |
125 | \brief Set the flags specific to the Spherical Joint. |
126 | |
127 | <b>Default</b> PxSphericalJointFlags(0) |
128 | |
129 | \param[in] flags The joint flags. |
130 | |
131 | @see PxSphericalJointFlag setFlag() getFlags() |
132 | */ |
133 | virtual void setSphericalJointFlags(PxSphericalJointFlags flags) = 0; |
134 | |
135 | /** |
136 | \brief Set a single flag specific to a Spherical Joint to true or false. |
137 | |
138 | \param[in] flag The flag to set or clear. |
139 | \param[in] value the value to which to set the flag |
140 | |
141 | @see PxSphericalJointFlag, getFlags() setFlags() |
142 | */ |
143 | virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0; |
144 | |
145 | /** |
146 | \brief Get the flags specific to the Spherical Joint. |
147 | |
148 | \return the joint flags |
149 | |
150 | @see PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags() |
151 | */ |
152 | virtual PxSphericalJointFlags getSphericalJointFlags() const = 0; |
153 | |
154 | /** |
155 | \brief Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION |
156 | is set for the joint. |
157 | |
158 | If the joint separates by more than this distance along its locked degrees of freedom, the solver |
159 | will move the bodies to close the distance. |
160 | |
161 | Setting a very small tolerance may result in simulation jitter or other artifacts. |
162 | |
163 | Sometimes it is not possible to project (for example when the joints form a cycle). |
164 | |
165 | <b>Range:</b> [0, PX_MAX_F32)<br> |
166 | <b>Default:</b> 1e10f |
167 | |
168 | \param[in] tolerance the linear tolerance threshold |
169 | |
170 | @see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION |
171 | */ |
172 | virtual void setProjectionLinearTolerance(PxReal tolerance) = 0; |
173 | |
174 | /** |
175 | \brief Get the linear tolerance threshold for projection. |
176 | |
177 | \return the linear tolerance threshold |
178 | |
179 | @see setProjectionLinearTolerance() |
180 | */ |
181 | virtual PxReal getProjectionLinearTolerance() const = 0; |
182 | |
183 | /** |
184 | \brief Returns string name of PxSphericalJoint, used for serialization |
185 | */ |
186 | virtual const char* getConcreteTypeName() const { return "PxSphericalJoint" ; } |
187 | |
188 | protected: |
189 | |
190 | //serialization |
191 | |
192 | /** |
193 | \brief Constructor |
194 | */ |
195 | PX_INLINE PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {} |
196 | |
197 | /** |
198 | \brief Deserialization constructor |
199 | */ |
200 | PX_INLINE PxSphericalJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {} |
201 | |
202 | /** |
203 | \brief Returns whether a given type name matches with the type of this instance |
204 | */ |
205 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxSphericalJoint" , s2: name) || PxJoint::isKindOf(name); } |
206 | |
207 | //~serialization |
208 | }; |
209 | |
210 | #if !PX_DOXYGEN |
211 | } // namespace physx |
212 | #endif |
213 | |
214 | /** @} */ |
215 | #endif |
216 | |