255 lines
14 KiB
C
255 lines
14 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_D6_JOINT_CREATE_H
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#define PX_D6_JOINT_CREATE_H
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#include "common/PxPhysXCommonConfig.h"
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/** \addtogroup extensions
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@{
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*/
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxPhysics;
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class PxRigidActor;
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class PxJoint;
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/**
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\brief Helper function to create a fixed joint, using either a PxD6Joint or PxFixedJoint.
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For fixed joints it is important that the joint frames have the same orientation. This helper function uses an identity rotation for both.
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It is also important that the joint frames have an equivalent position in world space. The function does not check this, so it is up to users
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to ensure that this is the case.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] useD6 True to use a PxD6Joint, false to use a PxFixedJoint;
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\return The created joint.
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@see PxD6Joint PxFixedJoint
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*/
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PxJoint* PxD6JointCreate_Fixed(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, bool useD6);
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/**
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\brief Helper function to create a distance joint, using either a PxD6Joint or PxDistanceJoint.
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This helper function only supports a maximum distance constraint, because PxD6Joint does not support a minimum distance constraint (contrary
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to PxDistanceJoint).
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The distance is computed between the joint frames' world-space positions. The joint frames' orientations are irrelevant here so the function
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sets them to identity.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] maxDist The maximum allowed distance
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\param[in] useD6 True to use a PxD6Joint, false to use a PxDistanceJoint;
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\return The created joint.
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@see PxD6Joint PxDistanceJoint
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*/
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PxJoint* PxD6JointCreate_Distance(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, float maxDist, bool useD6);
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/**
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\brief Helper function to create a prismatic joint, using either a PxD6Joint or PxPrismaticJoint.
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This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired translation axis.
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This orientation is computed by the function, so users only have to define the desired translation axis (typically 1;0;0 or 0;1;0 or 0;0;1).
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The translation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the
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limits are not enforced and the axis is free. The limit values are computed relative to the position of actor0's joint frame.
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The function creates hard limits, and uses PhysX's default contact distance parameter.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] axis The axis along which objects are allowed to move, expressed in the actors' local space
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\param[in] minLimit The minimum allowed position along the axis
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\param[in] maxLimit The maximum allowed position along the axis
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\param[in] useD6 True to use a PxD6Joint, false to use a PxPrismaticJoint;
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\return The created joint.
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@see PxD6Joint PxPrismaticJoint
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*/
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PxJoint* PxD6JointCreate_Prismatic(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float minLimit, float maxLimit, bool useD6);
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/**
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\brief Helper function to create a revolute joint, using either a PxD6Joint or PxRevoluteJoint.
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This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired rotation axis.
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This orientation is computed by the function, so users only have to define the desired rotation axis (typically 1;0;0 or 0;1;0 or 0;0;1).
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The rotation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the
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limits are not enforced and the axis is free. The limit values are computed relative to the rotation of actor0's joint frame.
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The function creates hard limits, and uses PhysX's default contact distance parameter.
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Limits are expressed in radians. Allowed range is ]-2*PI;+2*PI[
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] axis The axis around which objects are allowed to move, expressed in the actors' local space
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\param[in] minLimit The minimum allowed rotation along the axis
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\param[in] maxLimit The maximum allowed rotation along the axis
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\param[in] useD6 True to use a PxD6Joint, false to use a PxRevoluteJoint;
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\return The created joint.
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@see PxD6Joint PxRevoluteJoint
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*/
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PxJoint* PxD6JointCreate_Revolute(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float minLimit, float maxLimit, bool useD6);
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/**
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\brief Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
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This function supports a cone limit shape, defined by a cone axis and two angular limit values.
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This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired cone axis.
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This orientation is computed by the function, so users only have to define the desired cone axis (typically 1;0;0 or 0;1;0 or 0;0;1).
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The rotations can be limited. Limits are enforced if limit1>0 and limit2>0. Otherwise the motion is free. The limit values define an ellipse,
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which is the cross-section of the cone limit shape.
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The function creates hard limits, and uses PhysX's default contact distance parameter.
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Limits are expressed in radians. Allowed range is ]0;PI[. Limits are symmetric around the cone axis.
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The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] axis The cone axis, expressed in the actors' local space
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\param[in] limit1 Max angular limit for the ellipse along the joint frame's second axis (first axis = cone axis)
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\param[in] limit2 Max angular limit for the ellipse along the joint frame's third axis (first axis = cone axis)
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\param[in] useD6 True to use a PxD6Joint, false to use a PxSphericalJoint;
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\return The created joint.
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@see PxD6Joint PxSphericalJoint
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*/
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PxJoint* PxD6JointCreate_Spherical(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float limit1, float limit2, bool useD6);
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/**
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\brief Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
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This function supports a cone limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric cone. If the
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angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the cone axis is the X axis in actor0's space.
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If the limits are not symmetric, the function rotates the cone axis accordingly so that limits remain symmetric for PhysX. If this happens,
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the initial joint frames will be different for both actors. By default minLimit1/maxLimit1 are limits around the joint's Y axis, and
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minLimit2/maxLimit2 are limits around the joint's Z axis.
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The function creates hard limits, and uses PhysX's default contact distance parameter.
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Limits are expressed in radians. Allowed range is ]-PI;PI[.
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The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
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The returned apiroty and apirotz values can later be added to retrieved Y and Z swing angle values (from the joint), to remap
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angle values to the given input range.
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\param[out] apiroty Amount of rotation around Y used to setup actor0's joint frame
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\param[out] apirotz Amount of rotation around Z used to setup actor0's joint frame
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] minLimit1 Min angular limit along the joint frame's second axis (first axis = cone axis)
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\param[in] maxLimit1 Max angular limit along the joint frame's second axis (first axis = cone axis)
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\param[in] minLimit2 Min angular limit along the joint frame's third axis (first axis = cone axis)
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\param[in] maxLimit2 Max angular limit along the joint frame's third axis (first axis = cone axis)
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\param[in] useD6 True to use a PxD6Joint, false to use a PxSphericalJoint;
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\return The created joint.
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@see PxD6Joint PxSphericalJoint
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*/
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PxJoint* PxD6JointCreate_GenericCone(float& apiroty, float& apirotz, PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, float minLimit1, float maxLimit1, float minLimit2, float maxLimit2, bool useD6);
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/**
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\brief Helper function to create a D6 joint with pyramidal swing limits.
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This function supports a pyramid limit shape, defined by two pairs of angular limit values. This can be used to create an asymmetric pyramid. If the
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angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the pyramid axis is the X axis in actor0's space.
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By default minLimit1/maxLimit1 are limits around the joint's Y axis, and minLimit2/maxLimit2 are limits around the joint's Z axis.
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The function creates hard limits, and uses PhysX's default contact distance parameter.
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Limits are expressed in radians. Allowed range is ]-PI;PI[.
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The pyramid axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
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\param[in] physics The physics SDK
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\param[in] actor0 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos0 The position of the joint relative to actor0
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\param[in] actor1 An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
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\param[in] localPos1 The position of the joint relative to actor1
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\param[in] axis The pyramid axis, expressed in the actors' local space
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\param[in] minLimit1 Min angular limit along the joint frame's second axis (first axis = pyramid axis)
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\param[in] maxLimit1 Max angular limit along the joint frame's second axis (first axis = pyramid axis)
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\param[in] minLimit2 Min angular limit along the joint frame's third axis (first axis = pyramid axis)
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\param[in] maxLimit2 Max angular limit along the joint frame's third axis (first axis = pyramid axis)
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\return The created joint.
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@see PxD6Joint
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*/
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PxJoint* PxD6JointCreate_Pyramid(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis,
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float minLimit1, float maxLimit1, float minLimit2, float maxLimit2);
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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