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

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

#include "Nxp.h"
#include "NxJointDesc.h"
#include "NxJointLimitPairDesc.h"
#include "NxSpringDesc.h"
#include "NxMotorDesc.h"

/**
\brief Desc class for #NxRevoluteJoint.

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

@see NxRevoluteJoint
*/
class NxRevoluteJointDesc : public NxJointDesc
        {
        public:
        /**
        \brief Optional limits for the angular motion of the joint. 

        <b>Range:</b> See #NxJointLimitPairDesc<br>
        <b>Default:</b> See #NxJointLimitPairDesc

        @see NxJointLimitPairDesc NxJointLimitDesc NxRevoluteJointFlag
        */
        NxJointLimitPairDesc limit;

        /**
        \brief Optional motor.

        <b>Range:</b> See #NxMotorDesc<br>
        <b>Default:</b> See #NxMotorDesc

        @see NxMotorDesc NxRevoluteJointFlag
        */
        NxMotorDesc                      motor; 

        /**
        \brief Optional spring.

        <b>Range:</b> See #NxSpringDesc<br>
        <b>Default:</b> See #NxSpringDesc

        @see NxSpringDesc NxRevoluteJointFlag
        */
        NxSpringDesc             spring;

        /**
        \brief The distance beyond which the joint is projected.
        
        projectionMode is NX_JPM_POINT_MINDIST, the joint gets artificially projected together when it drifts more than this distance. Sometimes it is not possible to project (for example when the joints form a cycle)
        Should be nonnegative. However, it may be a bad idea to always project to a very small or zero distance because the solver *needs* some error in order to produce correct motion.

        <b>Range:</b> (0,inf)<br>
        <b>Default:</b> 1.0

        @see projectionMode projectionAngle
    */
        NxReal projectionDistance;      

        /**
        \brief The angle beyond which the joint is projected.
        
        This similar to #projectionDistance, except this is an angle (in radians) to which angular drift is 
        projected.

        <b>Unit:</b> Radians
        <b>Range:</b> (0,PI)<br>
        <b>Default:</b> 0.0872 (about 5 degrees in radians)

        @see projectionDistance projectionMode
        */
        NxReal projectionAngle;

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

        <b>Default:</b> 0

        @see NxRevoluteJointFlag
        */
        NxU32 flags;

        /**
        \brief use this to enable joint projection

        <b>Default:</b> NX_JPM_NONE

        @see NxJointProjectionMode projectionDistance projectionAngle NxRevoluteJoint.setProjectionMode()
        */
        NxJointProjectionMode projectionMode;

        /**
        \brief constructor sets to default.
        */

        NX_INLINE NxRevoluteJointDesc();        
        /**
        \brief (re)sets the structure to the default.   

        \param[in] fromCtor Avoid redundant work if called from constructor.
        */
        NX_INLINE void setToDefault(bool fromCtor = false);
        
        /**
        \brief Returns true if the descriptor is valid.
        
        \return true if the current settings are valid
        */
        NX_INLINE bool isValid() const;

        };

NX_INLINE NxRevoluteJointDesc::NxRevoluteJointDesc() : NxJointDesc(NX_JOINT_REVOLUTE)   //constructor sets to default
        {
        setToDefault(true);
        }

NX_INLINE void NxRevoluteJointDesc::setToDefault(bool fromCtor)
        {
        NxJointDesc::setToDefault();
        projectionDistance = 1.0f;
        projectionAngle = 0.0872f;      //about 5 degrees in radians.

        if (!fromCtor)
                {
                limit.setToDefault();
                motor.setToDefault();
                spring.setToDefault();
                }

        flags = 0;
        projectionMode = NX_JPM_NONE;
        }

NX_INLINE bool NxRevoluteJointDesc::isValid() const
        {
        if (projectionDistance < 0.0f) return false;
        if (projectionAngle < 0.02f) return false;      //if its smaller then current algo gets too close to a singularity.
        

        if (!limit.isValid()) return false;
        if (!motor.isValid()) return false;
        if (!spring.isValid()) return false;


        return NxJointDesc::isValid();
        }

/** @} */
#endif


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