Panda3D
physxRevoluteJoint.h
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1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file physxRevoluteJoint.h
10  * @author enn0x
11  * @date 2009-10-02
12  */
13 
14 #ifndef PHYSXREVOLUTEJOINT_H
15 #define PHYSXREVOLUTEJOINT_H
16 
17 #include "pandabase.h"
18 
19 #include "physxJoint.h"
20 #include "physx_includes.h"
21 
23 class PhysxSpringDesc;
24 class PhysxMotorDesc;
26 
27 /**
28  * A joint which behaves in a similar way to a hinge or axel. A hinge joint
29  * removes all but a single rotational degree of freedom from two objects.
30  * The axis along which the two bodies may rotate is specified with a point
31  * and a direction vector.
32  */
33 class EXPCL_PANDAPHYSX PhysxRevoluteJoint : public PhysxJoint {
34 
35 PUBLISHED:
36  INLINE PhysxRevoluteJoint();
37  INLINE ~PhysxRevoluteJoint();
38 
39  void save_to_desc(PhysxRevoluteJointDesc &jointDesc) const;
40  void load_from_desc(const PhysxRevoluteJointDesc &jointDesc);
41 
42  void set_spring(const PhysxSpringDesc &spring);
43  void set_motor(const PhysxMotorDesc &motor);
44  void set_limits(const PhysxJointLimitDesc &low, const PhysxJointLimitDesc &high);
45  void set_flag(PhysxRevoluteJointFlag flag, bool value);
46  void set_projection_mode(PhysxProjectionMode mode);
47 
48  float get_angle() const;
49  float get_velocity() const;
50  bool get_flag(PhysxRevoluteJointFlag flag) const;
51  PhysxProjectionMode get_projection_mode() const;
52  PhysxMotorDesc get_motor() const;
53  PhysxSpringDesc get_spring() const;
54 
55 public:
56  INLINE NxJoint *ptr() const { return (NxJoint *)_ptr; };
57 
58  void link(NxJoint *jointPtr);
59  void unlink();
60 
61 private:
62  NxRevoluteJoint *_ptr;
63 
64 public:
65  static TypeHandle get_class_type() {
66  return _type_handle;
67  }
68  static void init_type() {
69  PhysxJoint::init_type();
70  register_type(_type_handle, "PhysxRevoluteJoint",
71  PhysxJoint::get_class_type());
72  }
73  virtual TypeHandle get_type() const {
74  return get_class_type();
75  }
76  virtual TypeHandle force_init_type() {
77  init_type();
78  return get_class_type();
79  }
80 
81 private:
82  static TypeHandle _type_handle;
83 };
84 
85 #include "physxRevoluteJoint.I"
86 
87 #endif // PHYSXREVOLUTEJOINT_H
Describes a joint limit.
Abstract base class for the different types of joints.
Definition: physxJoint.h:32
Describes a joint motor.
Descriptor class for distance joint.
A joint which behaves in a similar way to a hinge or axel.
Describes a joint spring.
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
void register_type(TypeHandle &type_handle, const std::string &name)
This inline function is just a convenient way to call TypeRegistry::register_type(),...
Definition: register_type.I:22