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00015 #ifndef PHYSXD6JOINTDESC_H
00016 #define PHYSXD6JOINTDESC_H
00017
00018 #include "pandabase.h"
00019 #include "luse.h"
00020
00021 #include "physxJointDesc.h"
00022 #include "physx_includes.h"
00023
00024 class PhysxJointDriveDesc;
00025 class PhysxJointLimitSoftDesc;
00026
00027
00028
00029
00030
00031 class EXPCL_PANDAPHYSX PhysxD6JointDesc : public PhysxJointDesc {
00032
00033 PUBLISHED:
00034 INLINE PhysxD6JointDesc();
00035 INLINE ~PhysxD6JointDesc();
00036
00037 INLINE void set_to_default();
00038 INLINE bool is_valid() const;
00039
00040 void set_flag(PhysxD6JointFlag flag, bool value);
00041 void set_projection_distance(float distance);
00042 void set_projection_angle(float angle);
00043 void set_gear_ratio(float ratio);
00044 void set_drive_position(const LPoint3f &pos);
00045 void set_drive_linear_velocity(const LVector3f &v);
00046 void set_drive_angular_velocity(const LVector3f &v);
00047 void set_drive_orientation(const LQuaternionf &quat);
00048 void set_projection_mode(PhysxProjectionMode mode);
00049 void set_x_motion(PhysxD6JointMotion xMotion);
00050 void set_y_motion(PhysxD6JointMotion yMotion);
00051 void set_z_motion(PhysxD6JointMotion zMotion);
00052 void set_swing1_motion(PhysxD6JointMotion xMotion);
00053 void set_swing2_motion(PhysxD6JointMotion yMotion);
00054 void set_twist_motion(PhysxD6JointMotion zMotion);
00055 void set_x_drive(const PhysxJointDriveDesc &drive);
00056 void set_y_drive(const PhysxJointDriveDesc &drive);
00057 void set_z_drive(const PhysxJointDriveDesc &drive);
00058 void set_swing_drive(const PhysxJointDriveDesc &drive);
00059 void set_twist_drive(const PhysxJointDriveDesc &drive);
00060 void set_slerp_drive(const PhysxJointDriveDesc &drive);
00061 void set_linear_limit(const PhysxJointLimitSoftDesc &limit);
00062 void set_swing1_limit(const PhysxJointLimitSoftDesc &limit);
00063 void set_swing2_limit(const PhysxJointLimitSoftDesc &limit);
00064 void set_twist_limit_low(const PhysxJointLimitSoftDesc &limit);
00065 void set_twist_limit_high(const PhysxJointLimitSoftDesc &limit);
00066
00067 bool get_flag(PhysxD6JointFlag flag) const;
00068 float get_projection_distance() const;
00069 float get_projection_angle() const;
00070 float get_gear_ratio() const;
00071 LPoint3f get_drive_position() const;
00072 LVector3f get_drive_linear_velocity() const;
00073 LVector3f get_drive_angular_velocity() const;
00074 LQuaternionf get_drive_orientation() const;
00075 PhysxProjectionMode get_projection_mode() const;
00076 PhysxD6JointMotion get_x_motion() const;
00077 PhysxD6JointMotion get_y_motion() const;
00078 PhysxD6JointMotion get_z_motion() const;
00079 PhysxD6JointMotion get_swing1_motion() const;
00080 PhysxD6JointMotion get_swing2_motion() const;
00081 PhysxD6JointMotion get_twist_motion() const;
00082 PhysxJointDriveDesc get_x_drive() const;
00083 PhysxJointDriveDesc get_y_drive() const;
00084 PhysxJointDriveDesc get_z_drive() const;
00085 PhysxJointDriveDesc get_swing_drive() const;
00086 PhysxJointDriveDesc get_twist_drive() const;
00087 PhysxJointDriveDesc get_slerp_drive() const;
00088 PhysxJointLimitSoftDesc get_linear_limit() const;
00089 PhysxJointLimitSoftDesc get_swing1_limit() const;
00090 PhysxJointLimitSoftDesc get_swing2_limit() const;
00091 PhysxJointLimitSoftDesc get_twist_limit_low() const;
00092 PhysxJointLimitSoftDesc get_twist_limit_high() const;
00093
00094 public:
00095 NxJointDesc *ptr() const { return (NxJointDesc *)&_desc; };
00096 NxD6JointDesc _desc;
00097 };
00098
00099 #include "physxD6JointDesc.I"
00100
00101 #endif // PHYSXD6JOINTDESC_H