[1378] | 1 | #ifndef NX_PHYSICS_NXHINGEJOINT
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| 2 | #define NX_PHYSICS_NXHINGEJOINT
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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 | #include "NxJoint.h"
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| 17 | #include "NxRevoluteJointDesc.h"
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| 18 |
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| 19 | static const NxReal NX_NO_LOW_LIMIT = -16;
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| 20 | static const NxReal NX_NO_HIGH_LIMIT = 16;
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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 | \brief A joint which behaves in a similar way to a hinge or axel.
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| 26 |
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| 27 | A hinge joint removes all but a single rotational degree of freedom from two objects.
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| 28 | The axis along which the two bodies may rotate is specified with a point and a direction
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| 29 | vector.
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| 30 |
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| 31 | \image html revoluteJoint.png
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| 32 |
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| 33 | <h3>Creation</h3>
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| 34 |
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| 35 | Example:
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| 36 |
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| 37 | \include NxRevoluteJoint_Create.cpp
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| 38 |
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| 39 | A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors.
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| 40 |
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| 41 | Example:
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| 42 |
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| 43 | \include NxRevoluteJoint_Motor.cpp
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| 44 |
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| 45 | <h3>Visulizations:</h3>
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| 46 | \li #NX_VISUALIZE_JOINT_LOCAL_AXES
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| 47 | \li #NX_VISUALIZE_JOINT_WORLD_AXES
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| 48 | \li #NX_VISUALIZE_JOINT_LIMITS
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| 49 | \li #NX_VISUALIZE_JOINT_ERROR
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| 50 | \li #NX_VISUALIZE_JOINT_FORCE
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| 51 | \li #NX_VISUALIZE_JOINT_REDUCED
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| 52 |
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| 53 | @see NxRevoluteJointDesc NxScene.createJoint() NxJoint
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| 54 | */
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| 55 | class NxRevoluteJoint : public NxJoint
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| 56 | {
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| 57 | public:
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| 58 | /**
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| 59 | \brief Use this for changing a significant number of joint parameters at once.
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| 60 |
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| 61 | Use the set() methods for changing only a single property at once.
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| 62 |
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| 63 | \param[in] desc The descriptor used to set the state of the object.
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| 64 |
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| 65 | <b>Platform:</b>
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| 66 | \li PC SW: Yes
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| 67 | \li PPU : No
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| 68 | \li PS3 : Yes
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| 69 | \li XB360: Yes
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| 70 |
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| 71 | @see saveToDesc() NxRevoluteJointDesc
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| 72 | */
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| 73 | virtual void loadFromDesc(const NxRevoluteJointDesc& desc) = 0;
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| 74 |
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| 75 | /**
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| 76 | \brief Writes all of the object's attributes to the desc struct .
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| 77 |
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| 78 | \param[out] desc The descriptor used to retrieve the state of the object.
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| 79 |
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| 80 | <b>Platform:</b>
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| 81 | \li PC SW: Yes
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| 82 | \li PPU : No
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| 83 | \li PS3 : Yes
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| 84 | \li XB360: Yes
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| 85 |
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| 86 | @see loadFromDesc() NxRevoluteJointDesc
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| 87 | */
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| 88 | virtual void saveToDesc(NxRevoluteJointDesc& desc) = 0;
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| 89 |
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| 90 | /**
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| 91 | \brief Sets angular joint limits.
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| 92 |
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| 93 | If either of these limits are set, any planar limits in NxJoint are ignored.
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| 94 | The limits are angles defined the same way as the values getAngle() returns.
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| 95 |
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| 96 | The following has to hold:
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| 97 | - Pi < lowAngle < highAngle < Pi
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| 98 | Both limits are disabled by default.
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| 99 |
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| 100 | Also sets coefficients of restitutions for the low and high angular limits.
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| 101 | These settings are only used if valid limits are set using setLimits().
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| 102 | These restitution coefficients work the same way as for contacts.
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| 103 |
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| 104 | The coefficient of restitution determines whether a collision with the joint limit is
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| 105 | completely elastic (like pool balls, restitution = 1, no energy is lost in the collision),
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| 106 | completely inelastic (like putty, restitution = 0, no rebound after collision) or
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| 107 | somewhere in between. The default is 0 for both.
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| 108 |
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| 109 | This automatically enables the limit.
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| 110 |
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| 111 | \param[in] pair The new joint limit settings. <b>Range:</b> See #NxJointLimitPairDesc
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| 112 |
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| 113 | <b>Platform:</b>
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| 114 | \li PC SW: Yes
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| 115 | \li PPU : No
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| 116 | \li PS3 : Yes
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| 117 | \li XB360: Yes
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| 118 |
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| 119 | @see NxJointLimitDesc NxJointLimitPairDesc getLimits()
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| 120 | */
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| 121 | virtual void setLimits(const NxJointLimitPairDesc & pair) = 0;
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| 122 |
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| 123 | /**
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| 124 | \brief Retrieves the joint limits.
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| 125 |
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| 126 | Returns true if it is enabled.
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| 127 |
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| 128 | Also returns the limit restitutions.
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| 129 |
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| 130 | \param[in] pair Used to retrieve the joint limit settings.
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| 131 | \return True if the limit is enabled.
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| 132 |
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| 133 | <b>Platform:</b>
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| 134 | \li PC SW: Yes
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| 135 | \li PPU : No
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| 136 | \li PS3 : Yes
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| 137 | \li XB360: Yes
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| 138 |
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| 139 | @see setLimits() NxJointLimitPairDesc NxJointLimitDesc
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| 140 | */
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| 141 | virtual bool getLimits(NxJointLimitPairDesc & pair) = 0;
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| 142 |
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| 143 | /**
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| 144 | \brief Sets motor parameters for the joint.
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| 145 |
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| 146 | The motor rotates the bodies relative to each other along the hinge axis. The motor has these parameters:
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| 147 |
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| 148 | <ul>
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| 149 | <li>velTarget - the relative velocity the motor is trying to achieve. The motor will only be able
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| 150 | to reach this velocity if the maxForce is sufficiently large. If the joint is
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| 151 | spinning faster than this velocity, the motor will actually try to brake. If you set this
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| 152 | to infinity then the motor will keep speeding up, unless there is some sort of resistance
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| 153 | on the attached bodies. The sign of this variable determines the rotation direction,
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| 154 | with positive values going the same way as positive joint angles.
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| 155 | Default is infinity.</li>
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| 156 | <li>maxForce - the maximum force (torque in this case) the motor can exert. Zero disables the motor.
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| 157 | Default is 0, should be >= 0. Setting this to a very large value if velTarget is also
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| 158 | very large may not be a good idea.</li>
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| 159 | <li>freeSpin - if this flag is set, and if the joint is spinning faster than velTarget, then neither
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| 160 | braking nor additional acceleration will result.
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| 161 | default: false.</li>
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| 162 | </ul>
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| 163 |
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| 164 | This automatically enables the motor.
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| 165 |
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| 166 | \param[in] motorDesc The new motor parameters for the joint. <b>Range:</b> See #NxMotorDesc
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| 167 |
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| 168 | <b>Platform:</b>
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| 169 | \li PC SW: Yes
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| 170 | \li PPU : No
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| 171 | \li PS3 : Yes
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| 172 | \li XB360: Yes
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| 173 |
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| 174 | @see NxMotorDesc getMotor()
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| 175 | */
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| 176 | virtual void setMotor(const NxMotorDesc &motorDesc) = 0;
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| 177 |
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| 178 | /**
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| 179 | \brief Reads back the motor parameters.
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| 180 |
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| 181 | Returns true if it is enabled.
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| 182 |
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| 183 | \param[out] motorDesc Used to store the motor parameters of the joint. See #NxMotorDesc
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| 184 | \return True if the motor is enabled.
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| 185 |
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| 186 | <b>Platform:</b>
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| 187 | \li PC SW: Yes
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| 188 | \li PPU : No
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| 189 | \li PS3 : Yes
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| 190 | \li XB360: Yes
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| 191 |
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| 192 | @see setMotor() NxMotorDesc
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| 193 | */
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| 194 | virtual bool getMotor(NxMotorDesc &motorDesc) = 0;
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| 195 |
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| 196 | /**
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| 197 | \brief Sets spring parameters.
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| 198 |
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| 199 | The spring is implicitly integrated so no instability should result for arbitrary
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| 200 | spring and damping constants. Using these settings together with a motor is not possible -- the motor will have
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| 201 | priority and the spring settings are ignored.
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| 202 | If you would like to simulate your motor's internal friction, do this by altering the motor parameters directly.
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| 203 |
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| 204 | spring - The rotational spring acts along the hinge axis and tries to force
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| 205 | the joint angle to zero. A setting of zero disables the spring. Default is 0, should be >= 0.
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| 206 | damper - Damping coefficient; acts against the hinge's angular velocity. A setting of zero disables
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| 207 | the damping. The default is 0, should be >= 0.
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| 208 | targetValue - The angle at which the spring is relaxed. In [-Pi,Pi]. Default is 0.
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| 209 |
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| 210 | This automatically enables the spring.
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| 211 |
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| 212 | \param[in] springDesc The new spring parameters for the joint. <b>Range:</b> See #NxSpringDesc.
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| 213 |
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| 214 | <b>Platform:</b>
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| 215 | \li PC SW: Yes
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| 216 | \li PPU : No
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| 217 | \li PS3 : Yes
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| 218 | \li XB360: Yes
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| 219 |
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| 220 | @see getSpring() NxSpringDesc
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| 221 | */
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| 222 | virtual void setSpring(const NxSpringDesc &springDesc) = 0;
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| 223 |
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| 224 | /**
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| 225 | \brief Retrieves spring settings.
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| 226 |
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| 227 | Returns true if it is enabled.
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| 228 |
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| 229 | @see setSpring
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| 230 |
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| 231 | \param[out] springDesc Used to retrieve the spring parameters for the joint. See #NxSpringDesc.
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| 232 | \return True if the spring is enabled.
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| 233 |
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| 234 | <b>Platform:</b>
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| 235 | \li PC SW: Yes
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| 236 | \li PPU : No
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| 237 | \li PS3 : Yes
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| 238 | \li XB360: Yes
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| 239 |
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| 240 | @see NxSpringDesc setSpring()
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| 241 | */
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| 242 | virtual bool getSpring(NxSpringDesc &springDesc) = 0;
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| 243 |
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| 244 | /**
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| 245 | \brief Retrieves the current revolute joint angle.
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| 246 |
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| 247 | The relative orientation of the bodies is stored when the joint is created, or when setAxis()
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| 248 | or setAnchor() is called.
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| 249 | This initial orientation returns an angle of zero, and joint angles are measured
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| 250 | relative to this pose.
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| 251 | The angle is in the range [-Pi, Pi], with positive angles CCW around the axis, measured
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| 252 | from body2 to body1.
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| 253 |
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| 254 | <b>Unit:</b> Radians
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| 255 | <b>Range:</b> [-PI,PI]
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| 256 |
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| 257 | \return The current hinge angle.
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| 258 |
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| 259 | <b>Platform:</b>
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| 260 | \li PC SW: Yes
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| 261 | \li PPU : No
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| 262 | \li PS3 : Yes
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| 263 | \li XB360: Yes
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| 264 |
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| 265 | @see getVelocity()
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| 266 | */
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| 267 | virtual NxReal getAngle() = 0;
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| 268 |
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| 269 | /**
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| 270 | \brief Retrieves the revolute joint angle's rate of change (angular velocity).
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| 271 |
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| 272 | It is the angular velocity of body1 minus body2 projected along the axis.
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| 273 |
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| 274 | \return The hinge velocity.
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| 275 |
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| 276 | <b>Platform:</b>
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| 277 | \li PC SW: Yes
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| 278 | \li PPU : No
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| 279 | \li PS3 : Yes
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| 280 | \li XB360: Yes
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| 281 |
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| 282 | @see getAngle()
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| 283 | */
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| 284 | virtual NxReal getVelocity() = 0;
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| 285 |
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| 286 | /**
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| 287 | \brief Sets the flags to enable/disable the spring/motor/limit.
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| 288 |
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| 289 | This is a combination of the ::NxRevoluteJointFlag bits.
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| 290 |
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| 291 | \param[in] flags A combination of NxRevoluteJointFlag flags to set for this joint
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| 292 |
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| 293 | <b>Platform:</b>
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| 294 | \li PC SW: Yes
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| 295 | \li PPU : No
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| 296 | \li PS3 : Yes
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| 297 | \li XB360: Yes
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| 298 |
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| 299 | @see NxRevoluteJointFlag getFlags()
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| 300 | */
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| 301 | virtual void setFlags(NxU32 flags) = 0;
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| 302 |
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| 303 | /**
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| 304 | \brief Retrieve the revolute joints flags.
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| 305 |
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| 306 | \return the current flag settings. See #NxRevoluteJointFlag
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| 307 |
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| 308 | <b>Platform:</b>
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| 309 | \li PC SW: Yes
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| 310 | \li PPU : No
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| 311 | \li PS3 : Yes
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| 312 | \li XB360: Yes
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| 313 |
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| 314 | @see setFlags() NxRevoluteJointFlag
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| 315 | */
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| 316 | virtual NxU32 getFlags() = 0;
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| 317 |
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| 318 | /**
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| 319 | \brief Sets the joint projection mode.
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| 320 |
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| 321 | \param[in] projectionMode The new projection mode. See #NxJointProjectionMode.
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| 322 |
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| 323 | <b>Platform:</b>
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| 324 | \li PC SW: Yes
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| 325 | \li PPU : No
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| 326 | \li PS3 : Yes
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| 327 | \li XB360: Yes
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| 328 |
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| 329 | @see getProjectionMode() NxJointProjectionMode NxRevoluteJointDesc.projectionMode
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| 330 | */
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| 331 | virtual void setProjectionMode(NxJointProjectionMode projectionMode) = 0;
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| 332 |
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| 333 | /**
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| 334 | \brief Retrieves the joints projection mode.
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| 335 |
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| 336 | \return the current flag settings.
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| 337 |
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| 338 | <b>Platform:</b>
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| 339 | \li PC SW: Yes
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| 340 | \li PPU : No
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| 341 | \li PS3 : Yes
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| 342 | \li XB360: Yes
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| 343 |
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| 344 | @see setProjectionMode() NxJointProjectionMode NxRevoluteJointDesc.projectionMode
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| 345 | */
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| 346 | virtual NxJointProjectionMode getProjectionMode() = 0;
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| 347 | };
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| 348 |
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| 349 | /** @} */
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| 350 | #endif
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| 351 |
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| 352 |
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| 353 | //AGCOPYRIGHTBEGIN
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| 354 | ///////////////////////////////////////////////////////////////////////////
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| 355 | // Copyright © 2005 AGEIA Technologies.
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| 356 | // All rights reserved. www.ageia.com
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| 357 | ///////////////////////////////////////////////////////////////////////////
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| 358 | //AGCOPYRIGHTEND
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| 359 |
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