Panda3D
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00001 // Filename: physxJoint.h 00002 // Created by: enn0x (02Oct09) 00003 // 00004 //////////////////////////////////////////////////////////////////// 00005 // 00006 // PANDA 3D SOFTWARE 00007 // Copyright (c) Carnegie Mellon University. All rights reserved. 00008 // 00009 // All use of this software is subject to the terms of the revised BSD 00010 // license. You should have received a copy of this license along 00011 // with this source code in a file named "LICENSE." 00012 // 00013 //////////////////////////////////////////////////////////////////// 00014 00015 #ifndef PHYSXJOINT_H 00016 #define PHYSXJOINT_H 00017 00018 #include "pandabase.h" 00019 #include "pointerTo.h" 00020 #include "lpoint3.h" 00021 #include "lvector3.h" 00022 00023 #include "physxObject.h" 00024 #include "physxEnums.h" 00025 #include "physx_includes.h" 00026 00027 class PhysxActor; 00028 class PhysxScene; 00029 00030 //////////////////////////////////////////////////////////////////// 00031 // Class : PhysxJoint 00032 // Description : Abstract base class for the different types of 00033 // joints. All joints are used to connect two dynamic 00034 // actors, or an actor and the environment. 00035 //////////////////////////////////////////////////////////////////// 00036 class EXPCL_PANDAPHYSX PhysxJoint : public PhysxObject, public PhysxEnums { 00037 00038 PUBLISHED: 00039 void release(); 00040 00041 PhysxActor *get_actor(unsigned int idx) const; 00042 PhysxScene *get_scene() const; 00043 00044 void purge_limit_planes(); 00045 00046 void set_name(const char *name); 00047 void set_global_anchor(const LPoint3f &anchor); 00048 void set_global_axis(const LVector3f &axis); 00049 void set_breakable(float maxForce, float maxTorque); 00050 void set_solver_extrapolation_factor(float factor); 00051 void set_use_acceleration_spring(bool value); 00052 void set_limit_point(const LPoint3f &pos, bool isOnActor2=true); 00053 void add_limit_plane(const LVector3f &normal, const LPoint3f &pointInPlane, float restitution=0.0f); 00054 00055 const char *get_name() const; 00056 LPoint3f get_global_anchor() const; 00057 LVector3f get_global_axis() const; 00058 float get_solver_extrapolation_factor() const; 00059 bool get_use_acceleration_spring() const; 00060 00061 INLINE void ls() const; 00062 INLINE void ls(ostream &out, int indent_level=0) const; 00063 00064 public: 00065 static PhysxJoint *factory(NxJointType shapeType); 00066 00067 virtual NxJoint *ptr() const = 0; 00068 00069 virtual void link(NxJoint *shapePtr) = 0; 00070 virtual void unlink() = 0; 00071 00072 protected: 00073 INLINE PhysxJoint(); 00074 00075 private: 00076 string _name; 00077 00078 //////////////////////////////////////////////////////////////////// 00079 public: 00080 static TypeHandle get_class_type() { 00081 return _type_handle; 00082 } 00083 static void init_type() { 00084 PhysxObject::init_type(); 00085 register_type(_type_handle, "PhysxJoint", 00086 PhysxObject::get_class_type()); 00087 } 00088 virtual TypeHandle get_type() const { 00089 return get_class_type(); 00090 } 00091 virtual TypeHandle force_init_type() { 00092 init_type(); 00093 return get_class_type(); 00094 } 00095 00096 private: 00097 static TypeHandle _type_handle; 00098 }; 00099 00100 #include "physxJoint.I" 00101 00102 #endif // PHYSXJOINT_H