Init

physx/include/PxArticulationJointReducedCoordinate.h

@@ -0,0 +1,95 @@
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT_RC
+#define PX_PHYSICS_NX_ARTICULATION_JOINT_RC
+/** \addtogroup physics
+@{ */
+
+#if 1
+#include "PxPhysXConfig.h"
+#include "common/PxBase.h"
+#include "PxArticulationJoint.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+	/**
+	\brief a joint between two links in an articulation.
+
+	The joint model is very similar to a PxSphericalJoint with swing and twist limits,
+	and an implicit drive model.
+
+	@see PxArticulation PxArticulationLink
+	*/
+
+	class PxArticulationJointReducedCoordinate : public PxArticulationJointBase
+	{
+	public:
+
+		virtual	void							setJointType(PxArticulationJointType::Enum jointType) = 0;
+		virtual	PxArticulationJointType::Enum	getJointType() const = 0;
+
+		virtual	void							setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) = 0;
+		virtual	PxArticulationMotion::Enum		getMotion(PxArticulationAxis::Enum axis) const = 0;
+
+		virtual void							setLimit(PxArticulationAxis::Enum axis, const PxReal lowLimit, const PxReal highLimit) = 0;
+		virtual void							getLimit(PxArticulationAxis::Enum axis, PxReal& lowLimit, PxReal& highLimit) = 0;
+		virtual void							setDrive(PxArticulationAxis::Enum axis, const PxReal stiffness, const PxReal damping, const PxReal maxForce, PxArticulationDriveType::Enum driveType = PxArticulationDriveType::eFORCE) = 0;
+		virtual void							getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) = 0;
+		virtual void							setDriveTarget(PxArticulationAxis::Enum axis, const PxReal target) = 0;
+		virtual void							setDriveVelocity(PxArticulationAxis::Enum axis, const PxReal targetVel) = 0;
+		virtual PxReal							getDriveTarget(PxArticulationAxis::Enum axis) = 0;
+		virtual PxReal							getDriveVelocity(PxArticulationAxis::Enum axis) = 0;
+
+		virtual	void							setFrictionCoefficient(const PxReal coefficient) = 0;
+		virtual	PxReal							getFrictionCoefficient() const = 0;
+		virtual	const char*						getConcreteTypeName() const { return "PxArticulationJointReducedCoordinate"; }
+
+		virtual void							setMaxJointVelocity(const PxReal maxJointV) = 0;
+		virtual PxReal							getMaxJointVelocity() const = 0;
+
+	protected:
+		PX_INLINE								PxArticulationJointReducedCoordinate(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationJointBase(concreteType, baseFlags) {}
+		PX_INLINE								PxArticulationJointReducedCoordinate(PxBaseFlags baseFlags) : PxArticulationJointBase(baseFlags) {}
+		virtual									~PxArticulationJointReducedCoordinate() {}
+		virtual	bool							isKindOf(const char* name)	const { return !::strcmp("PxArticulationJointReducedCoordinate", name) || PxBase::isKindOf(name); }
+	};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif
+
+  /** @} */
+#endif