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PxSphericalJoint.h

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#ifndef PX_SPHERICALJOINT_H
#define PX_SPHERICALJOINT_H

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

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxSphericalJoint;

PxSphericalJoint*   PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);


struct PxSphericalJointFlag
{
    enum Enum
    {
        eLIMIT_ENABLED  = 1<<1  
    };
};
typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)


class PxSphericalJoint : public PxJoint
{
public:
    
    virtual PxJointLimitCone    getLimitCone()  const   = 0;

    virtual void                setLimitCone(const PxJointLimitCone& limit) = 0;

    virtual PxReal              getSwingYAngle()    const   = 0;

    virtual PxReal              getSwingZAngle()    const   = 0;

    virtual void                setSphericalJointFlags(PxSphericalJointFlags flags) = 0;

    virtual void                setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;

    virtual PxSphericalJointFlags   getSphericalJointFlags()    const   = 0;

    virtual void                setProjectionLinearTolerance(PxReal tolerance)  = 0;

    virtual PxReal              getProjectionLinearTolerance()  const   = 0;

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

protected:

    //serialization

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

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

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

    //~serialization
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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