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PxRevoluteJoint.h

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#ifndef PX_REVOLUTEJOINT_H
#define PX_REVOLUTEJOINT_H

#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxRevoluteJoint;

PxRevoluteJoint*    PxRevoluteJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);

struct PxRevoluteJointFlag
{
    enum Enum
    {
        eLIMIT_ENABLED  = 1<<0, 
        eDRIVE_ENABLED  = 1<<1, 
        eDRIVE_FREESPIN = 1<<2  
    };
};

typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)


class PxRevoluteJoint : public PxJoint
{
public:

    virtual PxReal getAngle()   const   = 0;

    virtual PxReal getVelocity()    const   = 0;

    virtual void            setLimit(const PxJointAngularLimitPair& limits) = 0;

    virtual PxJointAngularLimitPair getLimit()  const   = 0;

    virtual void            setDriveVelocity(PxReal velocity, bool autowake = true) = 0;

    virtual PxReal          getDriveVelocity()  const   = 0;

    virtual void            setDriveForceLimit(PxReal limit)    = 0;

    virtual PxReal          getDriveForceLimit()    const   = 0;

    virtual void            setDriveGearRatio(PxReal ratio) = 0;

    virtual PxReal          getDriveGearRatio()     const   = 0;

    virtual void            setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;

    virtual void            setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;

    virtual PxRevoluteJointFlags    getRevoluteJointFlags() const   = 0;

    virtual void                setProjectionLinearTolerance(PxReal tolerance)  = 0;

    virtual PxReal              getProjectionLinearTolerance()  const   = 0;

    virtual void                setProjectionAngularTolerance(PxReal tolerance) = 0;

    virtual PxReal              getProjectionAngularTolerance() const   = 0;

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

protected:

    //serialization

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

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

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

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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