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PxContactJoint.h

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#ifndef PX_CONTACTJOINT_H
#define PX_CONTACTJOINT_H

#include "extensions/PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    class PxContactJoint;

    PxContactJoint* PxContactJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);

    struct PxJacobianRow
    {
        PxVec3 linear0;
        PxVec3 linear1;
        PxVec3 angular0;
        PxVec3 angular1;
        
        PxJacobianRow(){}
        
        PxJacobianRow(const PxVec3& lin0, const PxVec3& lin1, const PxVec3& ang0, const PxVec3& ang1) : 
        linear0(lin0), linear1(lin1), angular0(ang0), angular1(ang1)
        {
            
        }

        void operator *= (const PxReal scale)
        {
            linear0 *= scale;
            linear1 *= scale;
            angular0 *= scale;
            angular1 *= scale;
        }

        PxJacobianRow operator * (const PxReal scale) const
        {
            return PxJacobianRow(linear0*scale, linear1*scale, angular0*scale, angular1*scale);
        }
    };

    class PxContactJoint : public PxJoint
    {
    public:

        virtual void                    setContact(const PxVec3& contact)   = 0;

        virtual void                    setContactNormal(const PxVec3& contactNormal) = 0;

        virtual void                    setPenetration(const PxReal penetration) = 0;
        
        virtual PxVec3                  getContact()    const = 0;

        virtual PxVec3                  getContactNormal() const = 0;

        virtual PxReal                  getPenetration() const = 0;

        virtual PxReal                  getResititution()   const = 0;
        virtual void                    setResititution(const PxReal resititution) = 0;
        virtual PxReal                  getBounceThreshold() const = 0;
        virtual void                    setBounceThreshold(const PxReal bounceThreshold) = 0;

        virtual const char*             getConcreteTypeName() const { return "PxContactJoint"; }
    
        virtual void computeJacobians(PxJacobianRow* jacobian) const = 0;
        virtual PxU32 getNbJacobianRows() const = 0;

    protected:
        //serialization

        PX_INLINE                       PxContactJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

        PX_INLINE                       PxContactJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}

        virtual bool                    isKindOf(const char* name)  const { return !::strcmp("PxContactJoint", name) || PxJoint::isKindOf(name); }

        //~serialization
    };

#if !PX_DOXYGEN
}
#endif


#endif

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