[1378] | 1 | #ifndef NX_PHYSICS_NXD6Joint
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| 2 | #define NX_PHYSICS_NXD6Joint
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| 3 | /*----------------------------------------------------------------------------*\
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| 4 | |
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| 5 | | Public Interface to NovodeX Technology
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| 6 | |
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| 7 | | www.novodex.com
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| 8 | |
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| 9 | \*----------------------------------------------------------------------------*/
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| 10 | /** \addtogroup physics
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| 11 | @{
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| 12 | */
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| 13 |
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| 14 | #include "Nxp.h"
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| 15 | #include "NxJoint.h"
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| 16 |
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| 17 | class NxD6JointDesc;
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| 18 |
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| 19 | /**
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| 20 | \brief A D6 joint is a general constraint between two actors.
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| 21 |
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| 22 | It allows the user to individually define the linear and rotational degrees of freedom.
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| 23 | It also allows the user to configure the joint with limits and driven degrees of freedom as they wish.
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| 24 |
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| 25 | For example to create a fixed joint we would need to do:
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| 26 |
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| 27 | \code
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| 28 | ...
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| 29 | d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
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| 30 | d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
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| 31 | d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
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| 32 |
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| 33 | d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
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| 34 | d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
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| 35 | d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
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| 36 | ...
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| 37 | \endcode
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| 38 |
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| 39 | Or a Revolute joint:
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| 40 |
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| 41 | \code
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| 42 | ...
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| 43 | d6Desc.twistMotion = NX_D6JOINT_MOTION_FREE;
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| 44 | d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
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| 45 | d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
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| 46 |
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| 47 | d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
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| 48 | d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
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| 49 | d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
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| 50 | ...
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| 51 |
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| 52 | \endcode
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| 53 |
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| 54 | And a spherical joint:
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| 55 |
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| 56 | \code
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| 57 | ...
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| 58 | d6Desc.twistMotion = NX_D6JOINT_MOTION_FREE;
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| 59 | d6Desc.swing1Motion = NX_D6JOINT_MOTION_FREE;
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| 60 | d6Desc.swing2Motion = NX_D6JOINT_MOTION_FREE;
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| 61 |
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| 62 | d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
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| 63 | d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
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| 64 | d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
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| 65 | ...
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| 66 | \endcode
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| 67 |
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| 68 |
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| 69 | <h3>Creation</h3>
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| 70 |
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| 71 | Example:
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| 72 |
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| 73 | \include NxD6Joint_Create.cpp
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| 74 |
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| 75 | <h3>Visulizations:</h3>
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| 76 | \li #NX_VISUALIZE_JOINT_LOCAL_AXES
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| 77 | \li #NX_VISUALIZE_JOINT_WORLD_AXES
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| 78 | \li #NX_VISUALIZE_JOINT_LIMITS
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| 79 | \li #NX_VISUALIZE_JOINT_ERROR
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| 80 | \li #NX_VISUALIZE_JOINT_FORCE
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| 81 | \li #NX_VISUALIZE_JOINT_REDUCED
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| 82 |
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| 83 | @see NxDjJointDesc NxJoint NxScene.createJoint()
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| 84 | */
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| 85 | class NxD6Joint: public NxJoint
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| 86 | {
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| 87 |
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| 88 | public:
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| 89 |
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| 90 | /**
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| 91 | \brief Use this for changing a significant number of joint parameters at once.
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| 92 |
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| 93 | Use the set() methods for changing only a single property at once.
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| 94 |
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| 95 | <b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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| 96 |
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| 97 | \param[in] desc The descriptor used to set the state of the object.
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| 98 |
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| 99 | <b>Platform:</b>
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| 100 | \li PC SW: Yes
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| 101 | \li PPU : No
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| 102 | \li PS3 : Yes
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| 103 | \li XB360: Yes
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| 104 |
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| 105 | @see saveToDesc NxD6JointDesc
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| 106 | */
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| 107 | virtual void loadFromDesc(const NxD6JointDesc& desc) = 0;
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| 108 |
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| 109 | /**
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| 110 | \brief Writes all of the object's attributes to the desc struct
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| 111 |
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| 112 | \param[out] desc The descriptor used to retrieve the state of the object.
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| 113 |
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| 114 | <b>Platform:</b>
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| 115 | \li PC SW: Yes
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| 116 | \li PPU : No
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| 117 | \li PS3 : Yes
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| 118 | \li XB360: Yes
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| 119 |
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| 120 | @see loadFromDesc NxD6JointDesc
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| 121 | */
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| 122 | virtual void saveToDesc(NxD6JointDesc& desc) = 0;
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| 123 |
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| 124 |
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| 125 | /**
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| 126 | \brief Set the drive position goal position when it is being driven.
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| 127 |
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| 128 | The goal position is specified relative to the joint frame corresponding to actor[0].
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| 129 |
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| 130 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 131 |
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| 132 | \param position The goal position if NX_D6JOINT_DRIVE_POSITION is set for xDrive,yDrive or zDrive. <b>Range:</b> position vector
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| 133 |
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| 134 | <b>Platform:</b>
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| 135 | \li PC SW: Yes
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| 136 | \li PPU : No
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| 137 | \li PS3 : Yes
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| 138 | \li XB360: Yes
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| 139 |
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| 140 | @see setDriveOrientation() NxD6JointDesc.drivePosition
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| 141 | @see NxD6JointDesc
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| 142 | */
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| 143 | virtual void setDrivePosition(const NxVec3 &position) = 0;
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| 144 |
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| 145 | /**
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| 146 | \brief Set the drive goal orientation when it is being driven.
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| 147 |
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| 148 | The goal orientation is specified relative to the joint frame corresponding to actor[0].
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| 149 |
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| 150 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 151 |
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| 152 | \param orientation The goal orientation if NX_D6JOINT_DRIVE_POSITION is set for swingDrive or
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| 153 | twistDrive. <b>Range:</b> unit quaternion
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| 154 |
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| 155 | <b>Platform:</b>
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| 156 | \li PC SW: Yes
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| 157 | \li PPU : No
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| 158 | \li PS3 : Yes
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| 159 | \li XB360: Yes
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| 160 |
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| 161 | @see setDrivePosition NxD6JointDesc.driveOrientation
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| 162 | */
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| 163 | virtual void setDriveOrientation(const NxQuat &orientation) = 0;
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| 164 |
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| 165 | /**
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| 166 | \brief Set the drive goal linear velocity when it is being driven.
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| 167 |
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| 168 | The drive linear velocity is specified relative to the actor[0] joint frame.
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| 169 |
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| 170 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 171 |
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| 172 | \param linVel The goal velocity if NX_D6JOINT_DRIVE_VELOCITY is set for xDrive,yDrive or zDrive.
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| 173 | See #NxD6JointDesc. <b>Range:</b> velocity vector
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| 174 |
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| 175 | <b>Platform:</b>
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| 176 | \li PC SW: Yes
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| 177 | \li PPU : No
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| 178 | \li PS3 : Yes
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| 179 | \li XB360: Yes
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| 180 |
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| 181 | @see setDriveAngularVelocity NxD6JointDesc.driveLinearVelocity
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| 182 | */
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| 183 | virtual void setDriveLinearVelocity(const NxVec3 &linVel) = 0;
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| 184 |
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| 185 | /**
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| 186 | \brief Set the drive angular velocity goel when it is being driven.
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| 187 |
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| 188 | The drive angular velocity is specified relative to the drive orientation target in the case of a slerp drive.
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| 189 |
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| 190 | The drive angular velocity is specified in the actor[0] joint frame in all other casses.
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| 191 |
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| 192 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 193 |
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| 194 | \param angVel The goal angular velocity if NX_D6JOINT_DRIVE_VELOCITY is set for swingDrive or
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| 195 | twistDrive. <b>Range:</b> angular velocity vector
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| 196 |
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| 197 | <b>Platform:</b>
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| 198 | \li PC SW: Yes
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| 199 | \li PPU : No
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| 200 | \li PS3 : Yes
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| 201 | \li XB360: Yes
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| 202 |
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| 203 | @see setDriveLinearVelocity() NxD6JointDesc.driveAngularVelocity
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| 204 | */
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| 205 | virtual void setDriveAngularVelocity(const NxVec3 &angVel) = 0;
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| 206 | };
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| 207 | /** @} */
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| 208 | #endif
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| 209 |
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| 210 |
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| 211 | //AGCOPYRIGHTBEGIN
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| 212 | ///////////////////////////////////////////////////////////////////////////
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| 213 | // Copyright © 2005 AGEIA Technologies.
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| 214 | // All rights reserved. www.ageia.com
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| 215 | ///////////////////////////////////////////////////////////////////////////
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| 216 | //AGCOPYRIGHTEND
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| 217 |
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