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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