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PxArticulationJoint.h

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#ifndef PX_PHYSICS_NX_ARTICULATION_JOINT
#define PX_PHYSICS_NX_ARTICULATION_JOINT

#include "PxPhysXConfig.h"
#include "common/PxBase.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxArticulationJointImpl;

struct PxArticulationJointDriveType
{
    enum Enum
    {
        eNONE   = 0,
        eTARGET = 1,            // use the quaternion as the drive target
        eERROR  = 2,                // use the vector part of the quaternion as the drive error.
        eTARGETVELOCITY = 3
    };
};

struct PxArticulationAxis
{
    enum Enum
    {
        eTWIST = 0,
        eSWING1 = 1,
        eSWING2 = 2,
        eX = 3,
        eY = 4,
        eZ = 5,
        eCOUNT = 6
    };
};

PX_FLAGS_OPERATORS(PxArticulationAxis::Enum, PxU8)

struct PxArticulationMotion
{
    enum Enum
    {
        eLOCKED = 0,
        eLIMITED = 1,
        eFREE = 2
    };
};

typedef PxFlags<PxArticulationMotion::Enum, PxU8> PxArticulationMotions;
PX_FLAGS_OPERATORS(PxArticulationMotion::Enum, PxU8)

struct PxArticulationJointType
{
    enum Enum
    {
        ePRISMATIC = 0,
        eREVOLUTE = 1,
        eSPHERICAL = 2,
        eFIX = 3
    };
};


class PxArticulationJointBase : public PxBase
{
public:
    virtual     PxArticulationLink& getParentArticulationLink() const = 0;

    virtual     void            setParentPose(const PxTransform& pose) = 0;

    virtual     PxTransform     getParentPose() const = 0;

    virtual     PxArticulationLink& getChildArticulationLink() const = 0;


    virtual     void            setChildPose(const PxTransform& pose) = 0;

    virtual     PxTransform     getChildPose() const = 0;

    virtual     PxArticulationJointImpl* getImpl() = 0;
    virtual     const PxArticulationJointImpl* getImpl() const = 0;

    virtual                     ~PxArticulationJointBase() {}

private:
protected:
    PX_INLINE                   PxArticulationJointBase(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
    PX_INLINE                   PxArticulationJointBase(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
    
    virtual     bool            isKindOf(const char* name)  const { return !::strcmp("PxArticulationJointBase", name) || PxBase::isKindOf(name); }
};



class PxArticulationJoint : public PxArticulationJointBase
{
public:

    virtual     void            setTargetOrientation(const PxQuat& orientation) = 0;

    virtual     PxQuat          getTargetOrientation() const = 0;

    virtual     void            setTargetVelocity(const PxVec3& velocity) = 0;

    virtual     PxVec3          getTargetVelocity() const = 0;


    virtual     void            setDriveType(PxArticulationJointDriveType::Enum driveType) = 0;

    virtual     PxArticulationJointDriveType::Enum
                                getDriveType() const = 0;


    
    virtual     void            setStiffness(PxReal spring) = 0;

    virtual     PxReal          getStiffness() const = 0;


    virtual     void            setDamping(PxReal damping) = 0;

    virtual     PxReal          getDamping() const = 0;

    virtual     void            setInternalCompliance(PxReal compliance) = 0;


    virtual     PxReal          getInternalCompliance() const = 0;

    virtual     void            setExternalCompliance(PxReal compliance) = 0;

    virtual     PxReal          getExternalCompliance() const = 0;



    virtual     void            setSwingLimit(PxReal zLimit, PxReal yLimit) = 0;


    virtual     void            getSwingLimit(PxReal& zLimit, PxReal& yLimit) const = 0;



    virtual     void            setTangentialStiffness(PxReal spring) = 0;


    virtual     PxReal          getTangentialStiffness() const = 0;


    virtual     void            setTangentialDamping(PxReal damping) = 0;


    virtual     PxReal          getTangentialDamping() const = 0;


    virtual     void            setSwingLimitContactDistance(PxReal contactDistance) = 0;


    virtual     PxReal          getSwingLimitContactDistance() const = 0;



    virtual     void            setSwingLimitEnabled(bool enabled) = 0;

    virtual     bool            getSwingLimitEnabled() const = 0;


    virtual     void            setTwistLimit(PxReal lower, PxReal upper) = 0;

    virtual     void            getTwistLimit(PxReal &lower, PxReal &upper) const = 0;

    virtual     void            setTwistLimitEnabled(bool enabled) = 0;

    virtual     bool            getTwistLimitEnabled() const = 0;


    virtual     void            setTwistLimitContactDistance(PxReal contactDistance) = 0;


    virtual     PxReal          getTwistLimitContactDistance() const = 0;

    virtual     const char*     getConcreteTypeName() const                 {   return "PxArticulationJoint"; }

protected:
    PX_INLINE                   PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags) : PxArticulationJointBase(concreteType, baseFlags) {}
    PX_INLINE                   PxArticulationJoint(PxBaseFlags baseFlags) : PxArticulationJointBase(baseFlags) {}
    virtual                     ~PxArticulationJoint() {}
    virtual     bool            isKindOf(const char* name)  const       {   return !::strcmp("PxArticulationJoint", name) || PxArticulationJointBase::isKindOf(name); }
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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