PxContactJoint.h

Go to the documentation of this file.

//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_CONTACTJOINT_H
#define PX_CONTACTJOINT_H

#include "extensions/PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    class PxContactJoint;

    PxContactJoint* PxContactJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);

    struct PxJacobianRow
    {
        PxVec3 linear0;
        PxVec3 linear1;
        PxVec3 angular0;
        PxVec3 angular1;
        
        PxJacobianRow(){}
        
        PxJacobianRow(const PxVec3& lin0, const PxVec3& lin1, const PxVec3& ang0, const PxVec3& ang1) : 
        linear0(lin0), linear1(lin1), angular0(ang0), angular1(ang1)
        {
            
        }

        void operator *= (const PxReal scale)
        {
            linear0 *= scale;
            linear1 *= scale;
            angular0 *= scale;
            angular1 *= scale;
        }

        PxJacobianRow operator * (const PxReal scale) const
        {
            return PxJacobianRow(linear0*scale, linear1*scale, angular0*scale, angular1*scale);
        }
    };

    class PxContactJoint : public PxJoint
    {
    public:

        virtual void                    setContact(const PxVec3& contact)   = 0;

        virtual void                    setContactNormal(const PxVec3& contactNormal) = 0;

        virtual void                    setPenetration(const PxReal penetration) = 0;
        
        virtual PxVec3                  getContact()    const = 0;

        virtual PxVec3                  getContactNormal() const = 0;

        virtual PxReal                  getPenetration() const = 0;

        virtual PxReal                  getResititution()   const = 0;
        virtual void                    setResititution(const PxReal resititution) = 0;
        virtual PxReal                  getBounceThreshold() const = 0;
        virtual void                    setBounceThreshold(const PxReal bounceThreshold) = 0;

        virtual const char*             getConcreteTypeName() const { return "PxContactJoint"; }
    
        virtual void computeJacobians(PxJacobianRow* jacobian) const = 0;
        virtual PxU32 getNbJacobianRows() const = 0;

    protected:
        //serialization

        PX_INLINE                       PxContactJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

        PX_INLINE                       PxContactJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}

        virtual bool                    isKindOf(const char* name)  const { return !::strcmp("PxContactJoint", name) || PxJoint::isKindOf(name); }

        //~serialization
    };

#if !PX_DOXYGEN
}
#endif


#endif