---

       

---

PxArticulationJointReducedCoordinate.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2018 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

#if 1
#include "PxPhysXConfig.h"
#include "common/PxBase.h"
#include "PxArticulationJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    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, bool isAccelerationDrive = false) = 0;
        virtual void getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, bool& isAcceleration) = 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"; }

    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

---

Copyright © 2008-2018 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. www.nvidia.com