[1378] | 1 | #ifndef NX_PHYSICS_NXJOINT
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| 2 | #define NX_PHYSICS_NXJOINT
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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 |
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| 16 | class NxActor;
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| 17 | class NxScene;
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| 18 | class NxRevoluteJoint;
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| 19 | class NxPointInPlaneJoint;
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| 20 | class NxPointOnLineJoint;
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| 21 | class NxPrismaticJoint;
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| 22 | class NxCylindricalJoint;
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| 23 | class NxSphericalJoint;
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| 24 | class NxFixedJoint;
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| 25 | class NxDistanceJoint;
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| 26 | class NxPulleyJoint;
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| 27 | class NxD6Joint;
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| 28 |
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| 29 | /**
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| 30 | \brief Abstract base class for the different types of joints.
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| 31 |
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| 32 | All joints are used to connect two dynamic actors, or an actor and the environment.
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| 33 |
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| 34 | A NULL actor represents the environment. Whenever the below comments mention two actors,
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| 35 | one of them may always be the environment (NULL).
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| 36 |
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| 37 | <h3>Visulizations:</h3>
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| 38 | \li #NX_VISUALIZE_JOINT_LOCAL_AXES
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| 39 | \li #NX_VISUALIZE_JOINT_WORLD_AXES
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| 40 | \li #NX_VISUALIZE_JOINT_LIMITS
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| 41 | \li #NX_VISUALIZE_JOINT_ERROR
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| 42 | \li #NX_VISUALIZE_JOINT_FORCE
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| 43 | \li #NX_VISUALIZE_JOINT_REDUCED
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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 NxJointDesc NxScene.createJoint()
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| 52 | @see NxCylindricalJoint NxD6Joint NxDistanceJoint NxFixedJoint NxPointInPlaneJoint
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| 53 | NxPointOnLineJoint NxPrismaticJoint NxPulleyJoint NxRevoluteJointDesc NxSphericalJoint
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| 54 | */
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| 55 | class NxJoint
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| 56 | {
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| 57 | protected:
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| 58 | NX_INLINE NxJoint() : userData(NULL), appData(NULL)
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| 59 | {}
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| 60 | virtual ~NxJoint() {}
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| 61 |
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| 62 | public:
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| 63 |
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| 64 | /**
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| 65 | \brief Retrieves the Actors involved.
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| 66 |
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| 67 | \param[out] actor1 First actor associated with joint.
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| 68 | \param[out] actor2 Second actor associated with joint.
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| 69 |
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| 70 | <b>Platform:</b>
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| 71 | \li PC SW: Yes
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| 72 | \li PPU : No
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| 73 | \li PS3 : Yes
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| 74 | \li XB360: Yes
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| 75 |
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| 76 | @see NxJointDesc.actors NxActor
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| 77 | */
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| 78 | virtual void getActors(NxActor** actor1, NxActor** actor2) = 0;
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| 79 |
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| 80 | /**
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| 81 | \brief Sets the point where the two actors are attached, specified in global coordinates.
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| 82 |
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| 83 | Set this after setting the actors of the joint.
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| 84 |
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| 85 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 86 |
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| 87 | \param[in] vec Point the actors are attached at, specified in the global frame. <b>Range:</b> position vector
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| 88 |
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| 89 | <b>Platform:</b>
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| 90 | \li PC SW: Yes
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| 91 | \li PPU : No
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| 92 | \li PS3 : Yes
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| 93 | \li XB360: Yes
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| 94 |
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| 95 | @see NxJointDesc.setGlobalAnchor() getGlobalAnchor()
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| 96 | */
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| 97 | virtual void setGlobalAnchor(const NxVec3 &vec) = 0;
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| 98 |
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| 99 | /**
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| 100 | \brief Sets the direction of the joint's primary axis, specified in global coordinates.
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| 101 |
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| 102 | The direction vector should be normalized to unit length.
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| 103 |
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| 104 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 105 |
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| 106 | \param[in] vec Direction of primary axis in the global frame. <b>Range:</b> direction vector
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| 107 |
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| 108 | <b>Platform:</b>
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| 109 | \li PC SW: Yes
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| 110 | \li PPU : No
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| 111 | \li PS3 : Yes
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| 112 | \li XB360: Yes
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| 113 |
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| 114 | @see NxJointDesc.setGlobalAxis() getGlobalAxis()
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| 115 | */
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| 116 | virtual void setGlobalAxis(const NxVec3 &vec) = 0;
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| 117 |
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| 118 | /**
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| 119 | \brief Retrieves the joint anchor.
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| 120 |
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| 121 | \return The joints anchor point in the global frame.
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| 122 |
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| 123 | <b>Platform:</b>
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| 124 | \li PC SW: Yes
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| 125 | \li PPU : No
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| 126 | \li PS3 : Yes
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| 127 | \li XB360: Yes
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| 128 |
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| 129 | @see setGlobalAnchor() getGlobalAxis()
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| 130 | */
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| 131 | virtual NxVec3 getGlobalAnchor() const = 0;
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| 132 |
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| 133 | /**
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| 134 | \brief Retrieves the joint axis.
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| 135 |
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| 136 | \return The joints axis in the global frame.
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| 137 |
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| 138 | <b>Platform:</b>
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| 139 | \li PC SW: Yes
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| 140 | \li PPU : No
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| 141 | \li PS3 : Yes
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| 142 | \li XB360: Yes
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| 143 |
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| 144 | @see setGlobalAxis() getGlobalAnchor()
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| 145 | */
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| 146 | virtual NxVec3 getGlobalAxis() const = 0;
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| 147 |
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| 148 | /**
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| 149 | \brief Returns the state of the joint.
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| 150 |
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| 151 | Joints are created in the NX_JS_UNBOUND state. Making certain changes to the simulation or the joint
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| 152 | can also make joints become unbound.
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| 153 | Unbound joints are automatically bound the next time Scene::run() is called, and this changes their
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| 154 | state to NX_JS_SIMULATING. NX_JS_BROKEN means that a breakable joint has broken due to a large force
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| 155 | or one of its actors has been deleted. In either case the joint was removed from the simulation,
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| 156 | so it should be released by the user to free up its memory.
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| 157 |
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| 158 | \return The state of the joint. See #NxJointState.
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| 159 |
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| 160 | <b>Platform:</b>
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| 161 | \li PC SW: Yes
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| 162 | \li PPU : No
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| 163 | \li PS3 : Yes
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| 164 | \li XB360: Yes
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| 165 |
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| 166 | @see NxJointState setBreakable()
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| 167 | */
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| 168 | virtual NxJointState getState() = 0;
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| 169 |
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| 170 | /**
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| 171 | \brief Sets the maximum force magnitude that the joint is able to withstand without breaking.
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| 172 |
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| 173 | If the joint force rises above this threshold, the joint breaks, and becomes disabled. Additionally,
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| 174 | the jointBreakNotify() method of the scene's user notify callback will be called.
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| 175 | (You can set this with NxScene::setUserNotify()).
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| 176 |
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| 177 | There are two values, one for linear forces, and one for angular forces.
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| 178 |
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| 179 | Both force values are NX_MAX_REAL by default. This setting makes the joint unbreakable.
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| 180 | The values should always be nonnegative.
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| 181 |
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| 182 | The distinction between maxForce and maxTorque is dependant on how the joint is implimented internally,
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| 183 | which may not be obvious. For example what appears to be an angular degree of freedom may be constrained
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| 184 | indirectly by a linear constraint.
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| 185 |
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| 186 | So in most practical applications the user should set both maxTorque and maxForce to low values.
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| 187 |
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| 188 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 189 |
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| 190 | \param[in] maxForce Maximum force the joint can withstand without breaking. <b>Range:</b> (0,inf]
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| 191 | \param[in] maxTorque Maximum torque the joint can withstand without breaking. <b>Range:</b> (0,inf]
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| 192 |
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| 193 | <b>Platform:</b>
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| 194 | \li PC SW: Yes
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| 195 | \li PPU : No
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| 196 | \li PS3 : Yes
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| 197 | \li XB360: Yes
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| 198 |
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| 199 | @see NxJointDesc.maxForce NxJointDesc.maxTorque getState() getBreakable()
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| 200 | */
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| 201 | virtual void setBreakable(NxReal maxForce, NxReal maxTorque) = 0;
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| 202 |
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| 203 | /**
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| 204 | \brief Retrieves the max forces of a breakable joint. See #setBreakable().
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| 205 |
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| 206 | \param[out] maxForce Retrieves the maximum force the joint can withstand without breaking.
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| 207 | \param[out] maxTorque Retrieves the maximum torque the joint can withstand without breaking.
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| 208 |
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| 209 | <b>Platform:</b>
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| 210 | \li PC SW: Yes
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| 211 | \li PPU : No
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| 212 | \li PS3 : Yes
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| 213 | \li XB360: Yes
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| 214 |
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| 215 | @see setBreakable NxJointDesc.maxForce NxJointDesc.maxTorque getState()
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| 216 | */
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| 217 | virtual void getBreakable(NxReal & maxForce, NxReal & maxTorque) = 0;
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| 218 |
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| 219 | /************************************************************************************************/
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| 220 |
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| 221 | /** @name Limits
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| 222 | */
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| 223 | //@{
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| 224 |
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| 225 | /**
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| 226 | \brief Sets the limit point.
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| 227 |
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| 228 | The point is specified in the global coordinate frame.
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| 229 |
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| 230 | All types of joints may be limited with the same system:
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| 231 | You may elect a point attached to one of the two actors to act as the limit point.
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| 232 | You may also specify several planes attached to the other actor.
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| 233 |
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| 234 | The points and planes move together with the actor they are attached to.
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| 235 |
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| 236 | The simulation then makes certain that the pair of actors only move relative to eachother
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| 237 | so that the limit point stays on the positive side of all limit planes.
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| 238 |
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| 239 | the default limit point is (0,0,0) in the local frame of actor2.
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| 240 | Calling this deletes all existing limit planes.
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| 241 |
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| 242 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 243 |
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| 244 | \param[in] point The limit reference point defined in the global frame. <b>Range:</b> position vector
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| 245 | \param[in] pointIsOnActor2 if true the point is attached to the second actor. Otherwise it is attached to the first.
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| 246 |
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| 247 | <b>Platform:</b>
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| 248 | \li PC SW: Yes
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| 249 | \li PPU : No
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| 250 | \li PS3 : Yes
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| 251 | \li XB360: Yes
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| 252 |
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| 253 | @see getLimitPoint() addLimitPlane()
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| 254 | */
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| 255 |
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| 256 | virtual void setLimitPoint(const NxVec3 & point, bool pointIsOnActor2 = true) = 0;
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| 257 |
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| 258 | /**
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| 259 | \brief Retrieves the global space limit point.
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| 260 |
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| 261 | Returns true if the point is fixed on actor2.
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| 262 |
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| 263 | \param[out] worldLimitPoint Used to store the global frame limit point.
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| 264 | \return True if the point is fixed to actor 2 otherwise the point is fixed to actor 1.
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| 265 |
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| 266 | <b>Platform:</b>
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| 267 | \li PC SW: Yes
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| 268 | \li PPU : No
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| 269 | \li PS3 : Yes
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| 270 | \li XB360: Yes
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| 271 |
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| 272 | @see setLimitPoint() addLimitPlane()
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| 273 | */
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| 274 | virtual bool getLimitPoint(NxVec3 & worldLimitPoint) = 0;
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| 275 |
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| 276 | /**
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| 277 | \brief Adds a limit plane.
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| 278 |
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| 279 | Both of the parameters are given in global coordinates. see setLimitPoint() for the meaning of limit planes.
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| 280 |
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| 281 | The plane is affixed to the actor that does not have the limit point.
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| 282 |
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| 283 | The normal of the plane points toward the positive side of the plane, and thus toward the
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| 284 | limit point. If the normal points away from the limit point at the time of this call, the
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| 285 | method returns false and the limit plane is ignored.
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| 286 |
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| 287 | \note This function always returns true and adds the limit plane unlike earlier versions. This behavoir
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| 288 | was changed to allow the joint to be serialized easily.
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| 289 |
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| 290 | <b>Sleeping:</b> This call wakes the actor(s) if they are sleeping.
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| 291 |
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| 292 | \param[in] normal Normal for the limit plane in global coordinates. <b>Range:</b> direction vector
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| 293 | \param[in] pointInPlane Point in the limit plane in global coordinates. <b>Range:</b> position vector
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| 294 | \return Always true.
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| 295 |
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| 296 | <b>Platform:</b>
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| 297 | \li PC SW: Yes
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| 298 | \li PPU : No
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| 299 | \li PS3 : Yes
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| 300 | \li XB360: Yes
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| 301 |
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| 302 | @see setLimitPoint() purgeLimitPlanes() getNextLimitPlane()
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| 303 | */
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| 304 | virtual bool addLimitPlane(const NxVec3 & normal, const NxVec3 & pointInPlane) = 0;
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| 305 |
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| 306 | /**
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| 307 | \brief deletes all limit planes added to the joint.
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| 308 |
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| 309 | Invalidates limit plane iterator.
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| 310 |
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| 311 | <b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically(To be fixed in 2.3.1).
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| 312 |
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| 313 | <b>Platform:</b>
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| 314 | \li PC SW: Yes
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| 315 | \li PPU : No
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| 316 | \li PS3 : Yes
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| 317 | \li XB360: Yes
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| 318 |
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| 319 | @see addLimitPlane() getNextLimitPlane()
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| 320 | */
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| 321 | virtual void purgeLimitPlanes() = 0;
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| 322 |
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| 323 | /**
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| 324 | \brief Restarts the limit plane iteration.
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| 325 |
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| 326 | Call before starting to iterate. This method may be used together with
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| 327 | the below two methods to enumerate the limit planes.
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| 328 | This iterator becomes invalid when planes
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| 329 | are added or removed, or the plane iterator mechanism is
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| 330 | invoked on another joint.
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| 331 |
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| 332 | <b>Platform:</b>
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| 333 | \li PC SW: Yes
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| 334 | \li PPU : No
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| 335 | \li PS3 : Yes
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| 336 | \li XB360: Yes
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| 337 |
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| 338 | @see hasMoreLimitPlanes() getNextLimitPlane()
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| 339 | */
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| 340 | virtual void resetLimitPlaneIterator() = 0;
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| 341 |
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| 342 | /**
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| 343 | \brief Returns true until the iterator reaches the end of the set of limit planes.
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| 344 |
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| 345 | Adding or removing elements does not reset the iterator.
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| 346 |
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| 347 | \return True if the iterator has not eached the end of the sequence of limit planes.
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| 348 |
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| 349 | <b>Platform:</b>
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| 350 | \li PC SW: Yes
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| 351 | \li PPU : No
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| 352 | \li PS3 : Yes
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| 353 | \li XB360: Yes
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| 354 |
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| 355 | @see resetLimitPlaneIterator() getNextLimitPlane()
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| 356 | */
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| 357 | virtual bool hasMoreLimitPlanes() = 0;
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| 358 |
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| 359 | /**
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| 360 | \brief Returns the next element pointed to by the limit plane iterator, and increments the iterator.
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| 361 |
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| 362 | Places the global frame plane equation (consisting of normal and d, the 4th
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| 363 | element) coefficients in the argument references. The plane equation is of the form:
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| 364 |
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| 365 | dot(n,p) + d == 0 (n = normal, p = a point on the plane)
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| 366 |
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| 367 | \note This convention for the plane equation differs from the convention used by #NxPlaneShape
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| 368 |
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| 369 | \param[out] planeNormal Used to store the plane normal.
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| 370 | \param[out] planeD Used to store the plane 'D'.
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| 371 | \return Returns true if the limit plane is satisfied.
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| 372 |
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| 373 | <b>Platform:</b>
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| 374 | \li PC SW: Yes
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| 375 | \li PPU : No
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| 376 | \li PS3 : Yes
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| 377 | \li XB360: Yes
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| 378 |
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| 379 | @see resetLimitPlaneIterator() hasMoreLimitPlanes()
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| 380 | */
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| 381 | virtual bool getNextLimitPlane(NxVec3 & planeNormal, NxReal & planeD) = 0;
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| 382 | //@}
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| 383 | /************************************************************************************************/
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| 384 |
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| 385 | /**
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| 386 | \brief Retrieve the type of this joint.
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| 387 | \return The type of joint.
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| 388 |
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| 389 | <b>Platform:</b>
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| 390 | \li PC SW: Yes
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| 391 | \li PPU : No
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| 392 | \li PS3 : Yes
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| 393 | \li XB360: Yes
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| 394 |
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| 395 | @see NxJointType
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| 396 | */
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| 397 | virtual NxJointType getType() const = 0;
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| 398 |
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| 399 | /************************************************************************************************/
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| 400 |
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| 401 | /** @name Is... Joint Type
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| 402 | */
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| 403 | //@{
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| 404 |
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| 405 | /**
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| 406 | \brief Type casting operator. The result may be cast to the desired subclass type.
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| 407 |
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| 408 | \param[in] type Used to query for a specific joint type.
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| 409 | \return NULL if the object if not of type(see #NxJointType). Otherwise a pointer to this object.
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| 410 |
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| 411 | <b>Platform:</b>
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| 412 | \li PC SW: Yes
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| 413 | \li PPU : No
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| 414 | \li PS3 : Yes
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| 415 | \li XB360: Yes
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| 416 |
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| 417 | @see NxJointType
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| 418 | */
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| 419 | NX_INLINE void* is(NxJointType type) { return (type == getType()) ? (void*)this : NULL; };
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| 420 |
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| 421 | /**
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| 422 | \brief Attempts to perform a cast to a #NxRevoluteJoint.
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| 423 |
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| 424 | Returns NULL if this object is not of the appropriate type.
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| 425 |
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| 426 | \return NULL if this object is not a #NxRevoluteJoint. Otherwise a pointer to this.
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| 427 |
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| 428 | <b>Platform:</b>
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| 429 | \li PC SW: Yes
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| 430 | \li PPU : No
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| 431 | \li PS3 : Yes
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| 432 | \li XB360: Yes
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| 433 |
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| 434 | @see is NxRevoluteJoint
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| 435 | */
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| 436 | NX_INLINE NxRevoluteJoint* isRevoluteJoint() { return (NxRevoluteJoint*)is(NX_JOINT_REVOLUTE);}
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| 437 |
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| 438 | /**
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| 439 | \brief Attempts to perform a cast to a #NxPointInPlaneJoint.
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| 440 |
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| 441 | Returns NULL if this object is not of the appropriate type.
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| 442 |
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| 443 | \return NULL if this object is not a #NxPointInPlaneJoint. Otherwise a pointer to this.
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| 444 |
|
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| 445 | <b>Platform:</b>
|
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| 446 | \li PC SW: Yes
|
---|
| 447 | \li PPU : No
|
---|
| 448 | \li PS3 : Yes
|
---|
| 449 | \li XB360: Yes
|
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| 450 |
|
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| 451 | @see is NxPointInPlaneJoint
|
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| 452 | */
|
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| 453 | NX_INLINE NxPointInPlaneJoint* isPointInPlaneJoint() { return (NxPointInPlaneJoint*)is(NX_JOINT_POINT_IN_PLANE);}
|
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| 454 |
|
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| 455 | /**
|
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| 456 | \brief Attempts to perform a cast to a #NxPointOnLineJoint.
|
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| 457 |
|
---|
| 458 | Returns NULL if this object is not of the appropriate type.
|
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| 459 |
|
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| 460 | \return NULL if this object is not a #NxPointOnLineJoint. Otherwise a pointer to this.
|
---|
| 461 |
|
---|
| 462 | <b>Platform:</b>
|
---|
| 463 | \li PC SW: Yes
|
---|
| 464 | \li PPU : No
|
---|
| 465 | \li PS3 : Yes
|
---|
| 466 | \li XB360: Yes
|
---|
| 467 |
|
---|
| 468 | @see is NxPointOnLineJoint
|
---|
| 469 | */
|
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| 470 | NX_INLINE NxPointOnLineJoint* isPointOnLineJoint() { return (NxPointOnLineJoint*)is(NX_JOINT_POINT_ON_LINE);}
|
---|
| 471 |
|
---|
| 472 | /**
|
---|
| 473 | \brief Attempts to perform a cast to a #NxD6Joint
|
---|
| 474 |
|
---|
| 475 | Returns NULL if this object is not of the appropriate type.
|
---|
| 476 |
|
---|
| 477 | \return NULL if this object is not a #NxD6Joint. Otherwise a pointer to this.
|
---|
| 478 |
|
---|
| 479 | <b>Platform:</b>
|
---|
| 480 | \li PC SW: Yes
|
---|
| 481 | \li PPU : No
|
---|
| 482 | \li PS3 : Yes
|
---|
| 483 | \li XB360: Yes
|
---|
| 484 |
|
---|
| 485 | @see is NxD6Joint
|
---|
| 486 | */
|
---|
| 487 | NX_INLINE NxD6Joint* isD6Joint() { return (NxD6Joint*)is(NX_JOINT_D6);}
|
---|
| 488 |
|
---|
| 489 | /**
|
---|
| 490 | \brief Attempts to perform a cast to a #NxPrismaticJoint
|
---|
| 491 |
|
---|
| 492 | Returns NULL if this object is not of the appropriate type.
|
---|
| 493 |
|
---|
| 494 | \return NULL if this object is not a #NxPrismaticJoint. Otherwise a pointer to this.
|
---|
| 495 |
|
---|
| 496 | <b>Platform:</b>
|
---|
| 497 | \li PC SW: Yes
|
---|
| 498 | \li PPU : No
|
---|
| 499 | \li PS3 : Yes
|
---|
| 500 | \li XB360: Yes
|
---|
| 501 |
|
---|
| 502 | @see is NxPrismaticJoint
|
---|
| 503 | */
|
---|
| 504 | NX_INLINE NxPrismaticJoint* isPrismaticJoint() { return (NxPrismaticJoint*)is(NX_JOINT_PRISMATIC);}
|
---|
| 505 |
|
---|
| 506 | /**
|
---|
| 507 | \brief Attempts to perform a cast to a #NxCylindricalJoint
|
---|
| 508 |
|
---|
| 509 | Returns NULL if this object is not of the appropriate type.
|
---|
| 510 |
|
---|
| 511 | \return NULL if this object is not a #NxCylindricalJoint. Otherwise a pointer to this.
|
---|
| 512 |
|
---|
| 513 | <b>Platform:</b>
|
---|
| 514 | \li PC SW: Yes
|
---|
| 515 | \li PPU : No
|
---|
| 516 | \li PS3 : Yes
|
---|
| 517 | \li XB360: Yes
|
---|
| 518 |
|
---|
| 519 | @see is NxCylindricalJoint
|
---|
| 520 | */
|
---|
| 521 | NX_INLINE NxCylindricalJoint* isCylindricalJoint() { return (NxCylindricalJoint*)is(NX_JOINT_CYLINDRICAL);}
|
---|
| 522 |
|
---|
| 523 | /**
|
---|
| 524 | \brief Attempts to perform a cast to a #NxSphericalJoint
|
---|
| 525 |
|
---|
| 526 | Returns NULL if this object is not of the appropriate type.
|
---|
| 527 |
|
---|
| 528 | \return NULL if this object is not a #NxSphericalJoint. Otherwise a pointer to this.
|
---|
| 529 |
|
---|
| 530 | <b>Platform:</b>
|
---|
| 531 | \li PC SW: Yes
|
---|
| 532 | \li PPU : No
|
---|
| 533 | \li PS3 : Yes
|
---|
| 534 | \li XB360: Yes
|
---|
| 535 |
|
---|
| 536 | @see is NxSphericalJoint
|
---|
| 537 | */
|
---|
| 538 | NX_INLINE NxSphericalJoint* isSphericalJoint() { return (NxSphericalJoint*)is(NX_JOINT_SPHERICAL);}
|
---|
| 539 |
|
---|
| 540 | /**
|
---|
| 541 | \brief Attempts to perform a cast to a #NxFixedJoint
|
---|
| 542 |
|
---|
| 543 | Returns NULL if this object is not of the appropriate type.
|
---|
| 544 |
|
---|
| 545 | \return NULL if this object is not a #NxFixedJoint. Otherwise a pointer to this.
|
---|
| 546 |
|
---|
| 547 | <b>Platform:</b>
|
---|
| 548 | \li PC SW: Yes
|
---|
| 549 | \li PPU : No
|
---|
| 550 | \li PS3 : Yes
|
---|
| 551 | \li XB360: Yes
|
---|
| 552 |
|
---|
| 553 | @see is NxFixedJoint
|
---|
| 554 | */
|
---|
| 555 | NX_INLINE NxFixedJoint* isFixedJoint() { return (NxFixedJoint*)is(NX_JOINT_FIXED);}
|
---|
| 556 |
|
---|
| 557 | /**
|
---|
| 558 | \brief Attempts to perform a cast to a #NxDistanceJoint
|
---|
| 559 |
|
---|
| 560 | Returns NULL if this object is not of the appropriate type.
|
---|
| 561 |
|
---|
| 562 | \return NULL if this object is not a #NxDistanceJoint. Otherwise a pointer to this.
|
---|
| 563 |
|
---|
| 564 | <b>Platform:</b>
|
---|
| 565 | \li PC SW: Yes
|
---|
| 566 | \li PPU : No
|
---|
| 567 | \li PS3 : Yes
|
---|
| 568 | \li XB360: Yes
|
---|
| 569 |
|
---|
| 570 | @see is NxDistanceJoint
|
---|
| 571 | */
|
---|
| 572 | NX_INLINE NxDistanceJoint* isDistanceJoint() { return (NxDistanceJoint*)is(NX_JOINT_DISTANCE);}
|
---|
| 573 |
|
---|
| 574 | /**
|
---|
| 575 | \brief Attempts to perform a cast to a #NxPulleyJoint
|
---|
| 576 |
|
---|
| 577 | Returns NULL if this object is not of the appropriate type.
|
---|
| 578 |
|
---|
| 579 | \return NULL if this object is not a #NxPulleyJoint. Otherwise a pointer to this.
|
---|
| 580 |
|
---|
| 581 | <b>Platform:</b>
|
---|
| 582 | \li PC SW: Yes
|
---|
| 583 | \li PPU : No
|
---|
| 584 | \li PS3 : Yes
|
---|
| 585 | \li XB360: Yes
|
---|
| 586 |
|
---|
| 587 | @see is NxPulleyJoint
|
---|
| 588 | */
|
---|
| 589 | NX_INLINE NxPulleyJoint* isPulleyJoint() { return (NxPulleyJoint*)is(NX_JOINT_PULLEY);}
|
---|
| 590 | //@}
|
---|
| 591 | /************************************************************************************************/
|
---|
| 592 |
|
---|
| 593 | /**
|
---|
| 594 | \brief Sets a name string for the object that can be retrieved with getName().
|
---|
| 595 |
|
---|
| 596 | This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.
|
---|
| 597 |
|
---|
| 598 | \param[in] name String to set the objects name to.
|
---|
| 599 |
|
---|
| 600 | <b>Platform:</b>
|
---|
| 601 | \li PC SW: Yes
|
---|
| 602 | \li PPU : No
|
---|
| 603 | \li PS3 : Yes
|
---|
| 604 | \li XB360: Yes
|
---|
| 605 |
|
---|
| 606 | @see getName()
|
---|
| 607 | */
|
---|
| 608 | virtual void setName(const char* name) = 0;
|
---|
| 609 |
|
---|
| 610 | /**
|
---|
| 611 | \brief Retrieves the name string set with setName().
|
---|
| 612 |
|
---|
| 613 | \return The name string for this object.
|
---|
| 614 |
|
---|
| 615 | <b>Platform:</b>
|
---|
| 616 | \li PC SW: Yes
|
---|
| 617 | \li PPU : No
|
---|
| 618 | \li PS3 : Yes
|
---|
| 619 | \li XB360: Yes
|
---|
| 620 |
|
---|
| 621 | @see setName()
|
---|
| 622 | */
|
---|
| 623 | virtual const char* getName() const = 0;
|
---|
| 624 |
|
---|
| 625 | /**
|
---|
| 626 | \brief Retrieves owner scene.
|
---|
| 627 |
|
---|
| 628 | \return The scene which owns this joint.
|
---|
| 629 |
|
---|
| 630 | <b>Platform:</b>
|
---|
| 631 |
|
---|
| 632 | \li PC SW: Yes
|
---|
| 633 | \li PPU : No
|
---|
| 634 | \li PS3 : Yes
|
---|
| 635 | \li XB360: Yes
|
---|
| 636 |
|
---|
| 637 | @see NxScene
|
---|
| 638 | */
|
---|
| 639 | virtual NxScene& getScene() = 0;
|
---|
| 640 |
|
---|
| 641 | void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
|
---|
| 642 | void* appData;
|
---|
| 643 | };
|
---|
| 644 |
|
---|
| 645 | /** @} */
|
---|
| 646 | #endif
|
---|
| 647 |
|
---|
| 648 |
|
---|
| 649 | //AGCOPYRIGHTBEGIN
|
---|
| 650 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 651 | // Copyright © 2005 AGEIA Technologies.
|
---|
| 652 | // All rights reserved. www.ageia.com
|
---|
| 653 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 654 | //AGCOPYRIGHTEND
|
---|
| 655 |
|
---|