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PxJoint.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_JOINTCONSTRAINT_H
#define PX_JOINTCONSTRAINT_H

#include "foundation/PxTransform.h"
#include "PxRigidActor.h"
#include "PxConstraint.h"
#include "common/PxBase.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxRigidActor;
class PxScene;
class PxPhysics;
class PxConstraint;

struct PxJointConcreteType
{
    enum Enum
    {
        eSPHERICAL = PxConcreteType::eFIRST_PHYSX_EXTENSION,
        eREVOLUTE,
        ePRISMATIC,
        eFIXED,
        eDISTANCE,
        eD6,
        eCONTACT,
        eLast
    };
};

PX_DEFINE_TYPEINFO(PxJoint,             PxConcreteType::eUNDEFINED)
PX_DEFINE_TYPEINFO(PxD6Joint,           PxJointConcreteType::eD6)
PX_DEFINE_TYPEINFO(PxDistanceJoint,     PxJointConcreteType::eDISTANCE)
PX_DEFINE_TYPEINFO(PxContactJoint,      PxJointConcreteType::eCONTACT)
PX_DEFINE_TYPEINFO(PxFixedJoint,        PxJointConcreteType::eFIXED)
PX_DEFINE_TYPEINFO(PxPrismaticJoint,    PxJointConcreteType::ePRISMATIC)
PX_DEFINE_TYPEINFO(PxRevoluteJoint,     PxJointConcreteType::eREVOLUTE)
PX_DEFINE_TYPEINFO(PxSphericalJoint,    PxJointConcreteType::eSPHERICAL)


struct PxJointActorIndex
{
    enum Enum
    {
        eACTOR0,
        eACTOR1,
        COUNT
    };
};

class PxJoint : public PxBase
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)   = 0;

    virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;

    virtual void                setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& localPose) = 0;

    virtual PxTransform         getLocalPose(PxJointActorIndex::Enum actor) const = 0;

    virtual PxTransform         getRelativeTransform()  const   = 0;

    virtual PxVec3              getRelativeLinearVelocity() const   = 0;

    virtual PxVec3              getRelativeAngularVelocity()    const   = 0;

    virtual void                setBreakForce(PxReal force, PxReal torque)  = 0;

    virtual void                getBreakForce(PxReal& force, PxReal& torque)    const   = 0;

    virtual void                setConstraintFlags(PxConstraintFlags flags) = 0;

    virtual void                setConstraintFlag(PxConstraintFlag::Enum flag, bool value)  = 0;

    virtual PxConstraintFlags   getConstraintFlags()    const   = 0;

    virtual void                setInvMassScale0(PxReal invMassScale)   = 0;

    virtual PxReal              getInvMassScale0()  const   = 0;

    virtual void                setInvInertiaScale0(PxReal invInertiaScale) = 0;

    virtual PxReal              getInvInertiaScale0()   const   = 0;

    virtual void                setInvMassScale1(PxReal invMassScale)   = 0;

    virtual PxReal              getInvMassScale1()  const   = 0;

    virtual void                setInvInertiaScale1(PxReal invInertiaScale) = 0;

    virtual PxReal              getInvInertiaScale1()   const   = 0;

    virtual PxConstraint*       getConstraint() const   = 0;

    virtual void                setName(const char* name)   = 0;

    virtual const char*         getName()   const   = 0;

    virtual void                release()   = 0;

    virtual PxScene*            getScene()  const   = 0;

    void*                       userData;   

    //serialization

    static  void                getBinaryMetaData(PxOutputStream& stream);

    //~serialization
                    
protected:
    virtual                     ~PxJoint() {}

    //serialization

    PX_INLINE                   PxJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
    
    PX_INLINE                   PxJoint(PxBaseFlags baseFlags)  : PxBase(baseFlags) {}

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

    //~serialization
};

class PxSpring
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    PxReal  stiffness;  
    PxReal  damping;    

    PxSpring(PxReal stiffness_, PxReal damping_): stiffness(stiffness_), damping(damping_) {}
};


#if !PX_DOXYGEN
} // namespace physx
#endif

PX_C_EXPORT void PX_CALL_CONV PxSetJointGlobalFrame(physx::PxJoint& joint, const physx::PxVec3* wsAnchor, const physx::PxVec3* wsAxis);

#endif

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