source: GTP/trunk/App/Games/Jungle_Rumble/src/physic/physics/include/NxJointDesc.h @ 1378

#ifndef NX_PHYSICS_NXJOINTDESC
#define NX_PHYSICS_NXJOINTDESC
/*----------------------------------------------------------------------------*\
|
|                                               Public Interface to NovodeX Technology
|
|                                                            www.novodex.com
|
\*----------------------------------------------------------------------------*/
/** \addtogroup physics
  @{
*/

#include "Nxp.h"
#include "NxJoint.h"
#include "NxActor.h"
#include "PhysXLoader.h"
#include "NxUtilLib.h"

/**
\brief Descriptor class for the #NxJoint class.

Joint descriptors for all the different joint types are derived from this class.

<b>Platform:</b>
\li PC SW: Yes
\li PPU  : No
\li PS3  : Yes
\li XB360: Yes

@see NxJoint NxScene.createJoint()
@see NxCylindricalJointDesc NxD6JointDesc NxDistanceJointDesc NxFixedJointDesc NxPointInPlaneJointDesc
NxPointOnLineJointDesc NxPrismaticJointDesc NxPulleyJointDesc NxRevoluteJointDesc NxSPhericalJointDesc
*/
class NxJointDesc
        {
        protected:

        /**
        \brief The type of joint. This is set by the ctor of the derived class.
        */
        const NxJointType type;
        public: 

        /**
        \brief The two actors connected by the joint.
        
        The actors must be in the same scene as this joint.
        
        At least one of the two pointers must be a dynamic actor.
        
        One of the two may be NULL to indicate the world frame. Neither may be a static actor!

        <b>Default:</b> NULL

        @see NxActor
        */
        NxActor * actor[2];

        /**
        \brief X axis of joint space, in actor[i]'s space, orthogonal to localAxis[i]

        #localAxis and localNormal should be unit length and at right angles to each other, ie 
        dot(localNormal[0],localAxis[0])==0 and dot(localNormal[1],localAxis[1])==0.

        <b>Range:</b> direction vector<br>
        <b>Default:</b> [0] 1.0f,0.0f,0.0f<br>
        <b>Default:</b> [1] 1.0f,0.0f,0.0f

        @see localAxis setGlobalAxis()
        */
        NxVec3 localNormal[2];

        /**
        \brief Z axis of joint space, in actor[i]'s space. This is the primary axis of the joint.

        localAxis and #localNormal should be unit length and at right angles to each other, ie 
        dot(localNormal[0],localAxis[0])==0 and dot(localNormal[1],localAxis[1])==0.

        <b>Range:</b> direction vector<br>
        <b>Default:</b> [0] 0.0f,0.0f,1.0f<br>
        <b>Default:</b> [1] 0.0f,0.0f,1.0f

        @see localNormal setGlobalAxis()
        */
        NxVec3 localAxis[2];
        
        /**
        \brief Attachment point of joint in actor[i]'s space

        <b>Range:</b> position vector<br>
        <b>Default:</b> [0] Zero<br>
        <b>Default:</b> [1] Zero

        @see setGlobalAnchor()
        */
        NxVec3 localAnchor[2];

        /**
        Maximum linear force that the joint can withstand before breaking, must be positive.
        
        <b>Range:</b> (0,inf]<br>
        <b>Default:</b> NX_MAX_REAL

        @see NxJoint.setBreakable() NxUserNotify.onJointBreak()
        */
        NxReal maxForce;

        /**
        \brief Maximum angular force (torque) that the joint can withstand before breaking, must be positive.
        
        <b>Range:</b> (0,inf]<br>
        <b>Default:</b> NX_MAX_REAL

        @see NxJoint.setBreakable() NxUserNotify.onJointBreak()
        */
        NxReal maxTorque;
        
        /**
        \brief Will be copied to NxJoint::userData.

        <b>Default:</b> NULL
        */
        void* userData;

        /**
        \brief Possible debug name. The string is not copied by the SDK, only the pointer is stored.

        <b>Default</b> NULL
        */
        const char* name;

        /**
        \brief This is a combination of the bits defined by ::NxJointFlag .

        <b>Default:</b> NX_JF_VISUALIZATION
        */
        NxU32 jointFlags;


        NX_INLINE virtual               ~NxJointDesc();
        
        /**
        \brief (re)sets the structure to the default.   
        */
        NX_INLINE virtual void setToDefault();
        
        /**
        \brief Returns true if the descriptor is valid.

        \return true if the current settings are valid
        */
        NX_INLINE virtual bool isValid() const;


        /**
        \brief Set the localAnchor[] members ufing a world space point.

        sets the members localAnchor[0,1] by transforming the passed world space
        vector into actor1 resp. actor2's local space. The actor pointers must already be set!

        \param[in] wsAnchor Global frame anchor point. <b>Range:</b> position vector

        @see setGlobalAxis() localAxis
        */
        NX_INLINE void setGlobalAnchor(const NxVec3 & wsAnchor);

        /**
        \brief Set the local axis/normal using a world space axis.

        sets the members localAxis[0,1] by transforming the passed world space
        vector into actor1 resp. actor2's local space, and finding arbitrary orthogonals for localNormal[0,1].
        The actor pointers must already be set!

        \param[in] wsAxis Global frame axis. <b>Range:</b> direction vector

        @see setGlobalAnchor() localAnchor
        */
        NX_INLINE void setGlobalAxis(const NxVec3 & wsAxis);

        /**
        \brief Retrieves the joint type.

        \return The type of joint this descriptor describes. See #NxJointType.

        @see NxJointType
        */
        NX_INLINE NxJointType   getType()       const   { return type; }
        protected:
        /**
        \brief Constructor sets to default.

        \param t Joint type
        */
        NX_INLINE NxJointDesc(NxJointType t);   
        };

/**
\brief Set the local anchor stored in a #NxJointDesc from a global anchor point.

\warning #NxCreatePhysicsSDK() must be called before using this function.

\param dis Joint desc to update.
\param wsAnchor Anchor point in the global frame. <b>Range:</b> position vector

@see NxJointDesc.setGlobalAnchor()
*/
NX_INLINE void NX_CALL_CONV NxJointDesc_SetGlobalAnchor(NxJointDesc & dis, const NxVec3 & wsAnchor)
        {
        NxGetUtilLib()->NxJointDesc_SetGlobalAnchor(dis,wsAnchor);
        }

/**
\brief Set the local axis stored in a #NxJointDesc from a global axis.

\warning #NxCreatePhysicsSDK() must be called before using this function.

\param dis Joint desc to update.
\param wsAxis Axis in the global frame. <b>Range:</b> direction vector

@see NxJointDesc.setGlobalAxis()
*/
NX_INLINE void NX_CALL_CONV NxJointDesc_SetGlobalAxis(NxJointDesc & dis, const NxVec3 & wsAxis)
        {
        NxGetUtilLib()->NxJointDesc_SetGlobalAxis(dis,wsAxis);
        }


NX_INLINE NxJointDesc::NxJointDesc(NxJointType t) : type(t)     //constructor sets to default
        {
        setToDefault();
        }

NX_INLINE NxJointDesc::~NxJointDesc()
        {
        }

NX_INLINE void NxJointDesc::setToDefault()
        {
        for (int i=0; i<2; i++)
                {
                actor[i] = 0;
                localAxis[i].set(0,0,1);
                localNormal[i].set(1,0,0);
                localAnchor[i].zero();
                }

        maxForce        = NX_MAX_REAL;
        maxTorque       = NX_MAX_REAL;
        userData        = NULL;
        name            = NULL;
        jointFlags      = NX_JF_VISUALIZATION;
        }

NX_INLINE bool NxJointDesc::isValid() const
        {
        if (!(actor[0] || actor[1]))
                return false;
        //non-null pointers must be dynamic:
        if (actor[0] && ! actor[0]->isDynamic())
                return false;
        if (actor[1] && ! actor[1]->isDynamic())
                return false;

        if (type >= NX_JOINT_COUNT)
                return false;
        for (int i=0; i<2; i++)
                {
                if (localAxis[i].magnitudeSquared() < 0.9f) return false;
                if (localNormal[i].magnitudeSquared() < 0.9f) return false;
                //check orthogonal pairs
                if (fabsf(localAxis[i].dot(localNormal[i])) > 0.1f) return false;
                }
        if (maxForce <= 0)
                return false;
        if (maxTorque <= 0)
                return false;

        return true;
        }

NX_INLINE void NxJointDesc::setGlobalAnchor(const NxVec3 & wsAnchor)
        {
        NxJointDesc_SetGlobalAnchor(*this, wsAnchor);
        }

NX_INLINE void NxJointDesc::setGlobalAxis(const NxVec3 & wsAxis)
        {
        NxJointDesc_SetGlobalAxis(*this, wsAxis);
        }

/** @} */
#endif


//AGCOPYRIGHTBEGIN
///////////////////////////////////////////////////////////////////////////
// Copyright © 2005 AGEIA Technologies.
// All rights reserved. www.ageia.com
///////////////////////////////////////////////////////////////////////////
//AGCOPYRIGHTEND