physxD6Joint.h

Go to the documentation of this file.

/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file physxD6Joint.h
 * @author enn0x
 * @date 2009-10-02
 */

#ifndef PHYSXD6JOINT_H
#define PHYSXD6JOINT_H

#include "pandabase.h"

#include "physxJoint.h"
#include "physx_includes.h"

class PhysxD6JointDesc;

/**
 * A D6 joint is a general constraint between two actors.  It allows the user
 * to individually define the linear and rotational degrees of freedom.  It
 * also allows the user to configure the joint with limits and driven degrees
 * of freedom as they wish.
 */
class EXPCL_PANDAPHYSX PhysxD6Joint : public PhysxJoint {

PUBLISHED:
  INLINE PhysxD6Joint();
  INLINE ~PhysxD6Joint();

  void save_to_desc(PhysxD6JointDesc &jointDesc) const;
  void load_from_desc(const PhysxD6JointDesc &jointDesc);

  void set_drive_angular_velocity(const LVector3f &v);
  void set_drive_linear_velocity(const LVector3f &v);
  void set_drive_orientation(const LQuaternionf &quat);
  void set_drive_position(const LPoint3f &pos);

public:
  INLINE NxJoint *ptr() const { return (NxJoint *)_ptr; };

  void link(NxJoint *jointPtr);
  void unlink();

private:
  NxD6Joint *_ptr;

public:
  static TypeHandle get_class_type() {
    return _type_handle;
  }
  static void init_type() {
    PhysxJoint::init_type();
    register_type(_type_handle, "PhysxD6Joint",
                  PhysxJoint::get_class_type());
  }
  virtual TypeHandle get_type() const {
    return get_class_type();
  }
  virtual TypeHandle force_init_type() {
    init_type();
    return get_class_type();
  }

private:
  static TypeHandle _type_handle;
};

#include "physxD6Joint.I"

#endif // PHYSXD6JOINT_H