Panda3D
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00001 // Filename: physxD6Joint.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 PHYSXD6JOINT_H 00016 #define PHYSXD6JOINT_H 00017 00018 #include "pandabase.h" 00019 00020 #include "physxJoint.h" 00021 #include "physx_includes.h" 00022 00023 class PhysxD6JointDesc; 00024 00025 //////////////////////////////////////////////////////////////////// 00026 // Class : PhysxD6Joint 00027 // Description : A D6 joint is a general constraint between two 00028 // actors. It allows the user to individually define 00029 // the linear and rotational degrees of freedom. It 00030 // also allows the user to configure the joint with 00031 // limits and driven degrees of freedom as they wish. 00032 //////////////////////////////////////////////////////////////////// 00033 class EXPCL_PANDAPHYSX PhysxD6Joint : public PhysxJoint { 00034 00035 PUBLISHED: 00036 INLINE PhysxD6Joint(); 00037 INLINE ~PhysxD6Joint(); 00038 00039 void save_to_desc(PhysxD6JointDesc &jointDesc) const; 00040 void load_from_desc(const PhysxD6JointDesc &jointDesc); 00041 00042 void set_drive_angular_velocity(const LVector3f &v); 00043 void set_drive_linear_velocity(const LVector3f &v); 00044 void set_drive_orientation(const LQuaternionf &quat); 00045 void set_drive_position(const LPoint3f &pos); 00046 00047 //////////////////////////////////////////////////////////////////// 00048 public: 00049 INLINE NxJoint *ptr() const { return (NxJoint *)_ptr; }; 00050 00051 void link(NxJoint *jointPtr); 00052 void unlink(); 00053 00054 private: 00055 NxD6Joint *_ptr; 00056 00057 //////////////////////////////////////////////////////////////////// 00058 public: 00059 static TypeHandle get_class_type() { 00060 return _type_handle; 00061 } 00062 static void init_type() { 00063 PhysxJoint::init_type(); 00064 register_type(_type_handle, "PhysxD6Joint", 00065 PhysxJoint::get_class_type()); 00066 } 00067 virtual TypeHandle get_type() const { 00068 return get_class_type(); 00069 } 00070 virtual TypeHandle force_init_type() { 00071 init_type(); 00072 return get_class_type(); 00073 } 00074 00075 private: 00076 static TypeHandle _type_handle; 00077 }; 00078 00079 #include "physxD6Joint.I" 00080 00081 #endif // PHYSXD6JOINT_H