1 | #ifndef NX_PHYSICS_NXD6JOINTDESC
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2 | #define NX_PHYSICS_NXD6JOINTDESC
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3 |
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4 | #include "Nxp.h"
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5 | #include "NxJointDesc.h"
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6 | #include "NxJointLimitSoftPairDesc.h"
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7 | #include "NxBitField.h"
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8 | #include "NxMotorDesc.h"
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9 | /*----------------------------------------------------------------------------*\
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10 | |
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11 | | Public Interface to NovodeX Technology
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12 | |
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13 | | www.novodex.com
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14 | |
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15 | \*----------------------------------------------------------------------------*/
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16 | /** \addtogroup physics
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17 | @{
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18 | */
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19 |
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20 |
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21 |
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22 |
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23 |
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24 | ///////////////////////////////////////////////////////////
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25 |
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26 | /**
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27 | \brief Descriptor class for the D6Joint. See #NxD6Joint.
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28 |
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29 | <p>In the D6Joint, the axes are assigned as follows:
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30 | <ul>
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31 | <li>x-axis = joint axis</li>
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32 | <li>y-axis = joint normal axis</li>
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33 | <li>z-axis = x-axis cross y-axis</li>
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34 | </ul>
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35 | These are defined relative to the parent body (0) of the joint.</p>
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36 |
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37 | <p>
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38 | Swing is defined as the rotation of the x-axis with respect to the y- and z-axis.
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39 | </p>
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40 |
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41 | <p>
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42 | Twist is defined as the rotation about the x-axis.
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43 | </p>
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44 |
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45 | <b>Platform:</b>
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46 | \li PC SW: Yes
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47 | \li PPU : No
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48 | \li PS3 : Yes
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49 | \li XB360: Yes
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50 |
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51 | @see NxD6Joint NxJointDesc NxScene.createJoint()
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52 | */
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53 |
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54 | class NxD6JointDesc : public NxJointDesc
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55 | {
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56 | public:
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57 |
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58 | /* Constraints */
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59 | /**
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60 | \brief Define the linear degrees of freedom
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61 |
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62 | <b>Default:</b> NX_D6JOINT_MOTION_FREE
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63 |
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64 | @see NxD6JointMotion xMotion yMotion zMotion
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65 | */
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66 | NxD6JointMotion xMotion, yMotion, zMotion;
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67 |
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68 | /**
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69 | \brief Define the angular degrees of freedom
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70 |
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71 | <b>Default:</b> NX_D6JOINT_MOTION_FREE
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72 |
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73 | @see NxD6JointMotion swing1Motion swing2Motion twistMotion
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74 | */
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75 | NxD6JointMotion swing1Motion, swing2Motion, twistMotion;
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76 |
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77 | /**
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78 | \brief If some linear DOF are limited, linearLimit defines the characteristics of these limits
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79 |
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80 | <b>Range:</b> See #NxJointLimitSoftDesc<br>
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81 | <b>Default:</b> See #NxJointLimitSoftDesc
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82 |
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83 | @see NxJointLimitSoftDesc swing1Limit swing2Limit twistLimit
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84 | */
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85 | NxJointLimitSoftDesc linearLimit;
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86 |
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87 | /**
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88 | \brief If swing1Motion is NX_D6JOINT_MOTION_LIMITED, swing1Limit defines the characteristics of the limit
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89 |
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90 | <b>Range:</b> See #NxJointLimitSoftDesc<br>
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91 | <b>Default:</b> See #NxJointLimitSoftDesc
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92 |
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93 | @see NxJointLimitSoftDesc linearLimit swing2Limit twistLimit
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94 | */
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95 | NxJointLimitSoftDesc swing1Limit;
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96 |
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97 | /**
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98 | \brief If swing2Motion is NX_D6JOINT_MOTION_LIMITED, swing2Limit defines the characteristics of the limit
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99 |
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100 | <b>Range:</b> See #NxJointLimitSoftDesc<br>
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101 | <b>Default:</b> See #NxJointLimitSoftDesc
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102 |
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103 | @see NxJointLimitSoftDesc linearLimit swing1Limit twistLimit
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104 | */
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105 | NxJointLimitSoftDesc swing2Limit;
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106 |
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107 | /**
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108 | \brief If twistMotion is NX_D6JOINT_MOTION_LIMITED, twistLimit defines the characteristics of the limit
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109 |
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110 | <b>Range:</b> See #NxJointLimitSoftPairDesc<br>
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111 | <b>Default:</b> See #NxJointLimitSoftDesc
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112 |
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113 | @see NxJointLimitSoftDesc linearLimit swing1Limit swing2imit
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114 | */
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115 | NxJointLimitSoftPairDesc twistLimit;
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116 |
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117 | /* drive */
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118 |
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119 | /**
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120 | \brief Drive the three linear DOF
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121 |
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122 | <b>Range:</b> See #NxJointDriveDesc<br>
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123 | <b>Default:</b> See #NxJointDriveDesc
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124 |
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125 | @see NxJointDriveDesc xDrive yDrive zDrive drivePosition
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126 | */
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127 | NxJointDriveDesc xDrive, yDrive, zDrive;
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128 |
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129 | /**
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130 | \brief These drives are used if the flag NX_D6JOINT_SLERP_DRIVE is not set
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131 |
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132 | <b>Range:</b> See #NxJointDriveDesc<br>
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133 | <b>Default:</b> See #NxJointDriveDesc
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134 |
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135 | @see NxJointDriveDesc swingDrive twistDrive driveOrientation
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136 | */
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137 | NxJointDriveDesc swingDrive, twistDrive;
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138 |
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139 | /**
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140 | \brief This drive is used if the flag NX_D6JOINT_SLERP_DRIVE is set
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141 |
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142 | <b>Range:</b> See #NxJointDriveDesc<br>
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143 | <b>Default:</b> See #NxJointDriveDesc
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144 |
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145 | @see NxJointDriveDesc driveOrientation
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146 | */
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147 | NxJointDriveDesc slerpDrive;
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148 |
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149 |
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150 | /**
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151 | \brief If the type of xDrive (yDrive,zDrive) is NX_D6JOINT_DRIVE_POSITION, drivePosition defines the goal position
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152 |
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153 | <b>Range:</b> position vector<br>
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154 | <b>Default:</b> Zero
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155 |
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156 | @see xDrive yDrive zDrive NxD6Joint.setDrivePosition
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157 | */
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158 | NxVec3 drivePosition;
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159 |
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160 | /**
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161 | \brief If the type of swingDrive or twistDrive is NX_D6JOINT_DRIVE_POSITION, driveOrientation defines the goal orientation
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162 |
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163 | <b>Range:</b> unit quaternion<br>
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164 | <b>Default:</b> Identity Quaternian
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165 |
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166 | @see slerpDrive swingDrive twistDrive NxD6Joint.setDriveOrientation()
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167 | */
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168 | NxQuat driveOrientation;
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169 |
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170 | /**
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171 | \brief If the type of xDrive (yDrive,zDrive) is NX_D6JOINT_DRIVE_VELOCITY, driveLinearVelocity defines the goal linear velocity
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172 |
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173 | <b>Range:</b> velocity vector<br>
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174 | <b>Default:</b> Zero
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175 |
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176 | @see xDrive yDrive zDrive NxD6Joint.setDriveLinearVelocity()
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177 | */
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178 | NxVec3 driveLinearVelocity;
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179 |
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180 | /**
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181 | \brief If the type of swingDrive or twistDrive is NX_D6JOINT_DRIVE_VELOCITY, driveAngularVelocity defines the goal angular velocity
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182 |
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183 | <b>Range:</b> angular velocity vector<br>
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184 | <b>Default:</b> Zero
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185 |
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186 | @see slerpDrive swingDrive twistDrive NxD6Joint.setDriveAngularVelocity()
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187 | */
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188 | NxVec3 driveAngularVelocity;
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189 |
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190 | /**
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191 | \brief If projectionMode is NX_JPM_NONE, projection is disabled. If NX_JPM_POINT_MINDIST, bodies are projected to limits leaving an linear error of projectionDistance and an angular error of projectionAngle
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192 |
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193 | <b>Default:</b> NX_JPM_NONE
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194 |
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195 | @see NxJointProjectionMode projectionDistance projectionAngle
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196 | */
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197 | NxJointProjectionMode projectionMode;
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198 |
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199 | /**
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200 | \brief The distance above which to project the joint.
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201 |
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202 | <b>Range:</b> (0,inf)<br>
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203 | <b>Default:</b> 0.1
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204 |
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205 | @see projectionMode projectionAngle
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206 | */
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207 | NxReal projectionDistance;
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208 |
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209 | /**
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210 | \brief The angle above which to project the joint.
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211 |
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212 | <b>Range:</b> (0,inf)<br>
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213 | <b>Default:</b> 0.0872f (about 5 degrees in radians)
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214 |
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215 | @see projectionMode ProjectionDistance
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216 | */
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217 | NxReal projectionAngle;
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218 |
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219 | /**
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220 | \brief when the flag NX_D6JOINT_GEAR_ENABLED is set, the angular velocity of the second actor is driven towards the angular velocity of the first actor times gearRatio (both w.r.t. their primary axis)
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221 |
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222 | <b>Range:</b> (0,inf)<br>
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223 | <b>Default:</b> 1.0
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224 |
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225 | @see flags
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226 | */
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227 | NxReal gearRatio;
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228 |
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229 | /**
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230 | \brief This is a combination of the bits defined by ::NxD6JointFlag
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231 |
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232 | <b>Default:</b> 0
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233 |
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234 | @see NxD6JointFlag
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235 | */
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236 | NxU32 flags;
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237 |
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238 | /**
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239 | \brief constructor sets to default.
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240 | */
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241 |
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242 | NX_INLINE NxD6JointDesc();
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243 |
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244 | /**
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245 | \brief (re)sets the structure to the default.
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246 | */
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247 | NX_INLINE void setToDefault();
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248 |
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249 | /**
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250 | \brief Returns true if the descriptor is valid.
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251 |
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252 | \return returns true if the current settings are valid
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253 | */
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254 |
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255 | NX_INLINE bool isValid() const;
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256 | };
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257 |
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258 | NxD6JointDesc::NxD6JointDesc() : NxJointDesc(NX_JOINT_D6)
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259 | {
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260 | setToDefault();
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261 | }
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262 |
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263 | void NxD6JointDesc::setToDefault()
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264 | {
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265 | NxJointDesc::setToDefault();
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266 |
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267 | xMotion = NX_D6JOINT_MOTION_FREE;
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268 | yMotion = NX_D6JOINT_MOTION_FREE;
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269 | zMotion = NX_D6JOINT_MOTION_FREE;
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270 | twistMotion = NX_D6JOINT_MOTION_FREE;
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271 | swing1Motion = NX_D6JOINT_MOTION_FREE;
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272 | swing2Motion = NX_D6JOINT_MOTION_FREE;
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273 |
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274 | drivePosition.set(0,0,0);
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275 | driveOrientation.id();
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276 |
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277 | driveLinearVelocity.set(0,0,0);
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278 | driveAngularVelocity.set(0,0,0);
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279 |
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280 | projectionMode = NX_JPM_NONE; // choose NX_JPM_POINT_MINDIST to turn projection on
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281 | projectionDistance = 0.1f;
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282 | projectionAngle = 0.0872f; //about 5 degrees in radians.
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283 |
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284 | flags = 0;
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285 | gearRatio = 1.0f;
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286 | }
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287 |
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288 | bool NxD6JointDesc::isValid() const
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289 | {
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290 | if (flags & NX_D6JOINT_SLERP_DRIVE) { // only possible with all angular DOF available
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291 | if (swing1Motion == NX_D6JOINT_MOTION_LOCKED ||
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292 | swing2Motion == NX_D6JOINT_MOTION_LOCKED ||
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293 | twistMotion == NX_D6JOINT_MOTION_LOCKED) return false;
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294 | }
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295 |
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296 | // swing limits are symmetric, thus their range is 0..180 degrees
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297 | if (swing1Motion == NX_D6JOINT_MOTION_LIMITED) {
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298 | if (swing1Limit.value < 0.0f) return false;
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299 | if (swing1Limit.value > NxPi) return false;
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300 | }
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301 | if (swing2Motion == NX_D6JOINT_MOTION_LIMITED) {
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302 | if (swing2Limit.value < 0.0f) return false;
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303 | if (swing2Limit.value > NxPi) return false;
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304 | }
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305 |
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306 | // twist limits are asymmetric with -180 <= low < high <= 180 degrees
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307 | if (twistMotion == NX_D6JOINT_MOTION_LIMITED) {
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308 | if (twistLimit.low.value < -NxPi) return false;
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309 | if (twistLimit.high.value > NxPi) return false;
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310 | if (twistLimit.low.value > twistLimit.high.value) return false;
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311 | }
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312 |
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313 | // in angular limited-free mode, only -90..90 swings are possible
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314 | if (swing1Motion == NX_D6JOINT_MOTION_LIMITED && swing2Motion == NX_D6JOINT_MOTION_FREE)
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315 | if (swing1Limit.value > NxHalfPi) return false;
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316 | if (swing2Motion == NX_D6JOINT_MOTION_LIMITED && swing1Motion == NX_D6JOINT_MOTION_FREE)
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317 | if (swing2Limit.value > NxHalfPi) return false;
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318 |
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319 | if (flags & NX_D6JOINT_GEAR_ENABLED) // gear only with twist motion enabled
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320 | if (twistMotion == NX_D6JOINT_MOTION_LOCKED) return false;
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321 |
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322 | return NxJointDesc::isValid();
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323 | }
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324 |
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325 | /** @} */
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326 | #endif
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327 |
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328 |
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329 | //AGCOPYRIGHTBEGIN
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330 | ///////////////////////////////////////////////////////////////////////////
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331 | // Copyright © 2005 AGEIA Technologies.
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332 | // All rights reserved. www.ageia.com
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333 | ///////////////////////////////////////////////////////////////////////////
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334 | //AGCOPYRIGHTEND
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335 |
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