branch with experimental PyBullet support for PhysX
see otherPhysicsEngine in examples/pybullet/examples folder for example usage
This commit is contained in:
Erwin Coumans
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src/PhysX/physx/include/extensions/PxDistanceJoint.h
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269
src/PhysX/physx/include/extensions/PxDistanceJoint.h
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_DISTANCEJOINT_H
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#define PX_DISTANCEJOINT_H
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/** \addtogroup extensions
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@{
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*/
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#include "extensions/PxJoint.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxDistanceJoint;
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/**
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\brief Create a distance Joint.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localFrame0 The position and orientation of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localFrame1 The position and orientation of the joint relative to actor1
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@see PxDistanceJoint
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*/
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PxDistanceJoint* PxDistanceJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
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/**
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\brief flags for configuring the drive of a PxDistanceJoint
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@see PxDistanceJoint
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*/
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struct PxDistanceJointFlag
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{
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enum Enum
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{
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eMAX_DISTANCE_ENABLED = 1<<1,
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eMIN_DISTANCE_ENABLED = 1<<2,
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eSPRING_ENABLED = 1<<3
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};
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};
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typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags;
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PX_FLAGS_OPERATORS(PxDistanceJointFlag::Enum, PxU16)
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/**
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\brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
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@see PxDistanceJointCreate PxJoint
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*/
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class PxDistanceJoint : public PxJoint
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{
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public:
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/**
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\brief Return the current distance of the joint
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*/
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virtual PxReal getDistance() const = 0;
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/**
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\brief Set the allowed minimum distance for the joint.
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The minimum distance must be no more than the maximum distance
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<b>Default</b> 0.0f
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<b>Range</b> [0, PX_MAX_F32)
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\param[in] distance the minimum distance
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@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()
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*/
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virtual void setMinDistance(PxReal distance) = 0;
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/**
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\brief Get the allowed minimum distance for the joint.
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\return the allowed minimum distance
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@see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()
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*/
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virtual PxReal getMinDistance() const = 0;
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/**
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\brief Set the allowed maximum distance for the joint.
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The maximum distance must be no less than the minimum distance.
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<b>Default</b> 0.0f
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<b>Range</b> [0, PX_MAX_F32)
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\param[in] distance the maximum distance
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@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()
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*/
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virtual void setMaxDistance(PxReal distance) = 0;
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/**
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\brief Get the allowed maximum distance for the joint.
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\return the allowed maximum distance
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@see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()
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*/
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virtual PxReal getMaxDistance() const = 0;
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/**
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\brief Set the error tolerance of the joint.
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\param[in] tolerance the distance beyond the allowed range at which the joint becomes active
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@see PxDistanceJoint::tolerance, getTolerance()
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*/
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virtual void setTolerance(PxReal tolerance) = 0;
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/**
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\brief Get the error tolerance of the joint.
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the distance beyond the joint's [min, max] range before the joint becomes active.
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<b>Default</b> 0.25f * PxTolerancesScale::length
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<b>Range</b> (0, PX_MAX_F32)
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This value should be used to ensure that if the minimum distance is zero and the
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spring function is in use, the rest length of the spring is non-zero.
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@see PxDistanceJoint::tolerance, setTolerance()
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*/
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virtual PxReal getTolerance() const = 0;
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/**
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\brief Set the strength of the joint spring.
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The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
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<b>Default</b> 0.0f
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<b>Range</b> [0, PX_MAX_F32)
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\param[in] stiffness the spring strength of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED getStiffness()
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*/
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virtual void setStiffness(PxReal stiffness) = 0;
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/**
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\brief Get the strength of the joint spring.
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\return stiffness the spring strength of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setStiffness()
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*/
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virtual PxReal getStiffness() const = 0;
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/**
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\brief Set the damping of the joint spring.
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The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
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<b>Default</b> 0.0f
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<b>Range</b> [0, PX_MAX_F32)
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\param[in] damping the degree of damping of the joint spring of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
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*/
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virtual void setDamping(PxReal damping) = 0;
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/**
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\brief Get the damping of the joint spring.
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\return the degree of damping of the joint spring of the joint
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@see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
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*/
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virtual PxReal getDamping() const = 0;
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/**
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\brief Set the flags specific to the Distance Joint.
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<b>Default</b> PxDistanceJointFlag::eMAX_DISTANCE_ENABLED
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\param[in] flags The joint flags.
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@see PxDistanceJointFlag setFlag() getFlags()
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*/
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virtual void setDistanceJointFlags(PxDistanceJointFlags flags) = 0;
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/**
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\brief Set a single flag specific to a Distance Joint to true or false.
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\param[in] flag The flag to set or clear.
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\param[in] value the value to which to set the flag
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@see PxDistanceJointFlag, getFlags() setFlags()
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*/
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virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0;
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/**
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\brief Get the flags specific to the Distance Joint.
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\return the joint flags
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@see PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()
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*/
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virtual PxDistanceJointFlags getDistanceJointFlags() const = 0;
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/**
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\brief Returns string name of PxDistanceJoint, used for serialization
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*/
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virtual const char* getConcreteTypeName() const { return "PxDistanceJoint"; }
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protected:
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//serialization
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/**
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\brief Constructor
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*/
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PX_INLINE PxDistanceJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
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/**
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\brief Deserialization constructor
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*/
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PX_INLINE PxDistanceJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
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/**
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\brief Returns whether a given type name matches with the type of this instance
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*/
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxDistanceJoint", name) || PxJoint::isKindOf(name); }
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//~serialization
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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