// 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) 2008-2023 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_FIXED_JOINT_H
#define PX_FIXED_JOINT_H
/** \addtogroup extensions
  @{
*/

#include "extensions/PxJoint.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxFixedJoint;

/**
\brief Create a fixed joint.

 \param[in] physics		The physics SDK
 \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
 \param[in] localFrame0	The position and orientation of the joint relative to actor0
 \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
 \param[in] localFrame1	The position and orientation of the joint relative to actor1 

@see PxFixedJoint
*/
PxFixedJoint*	PxFixedJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);

/**
 \brief A fixed joint permits no relative movement between two bodies. ie the bodies are glued together.

 \image html fixedJoint.png

 @see PxFixedJointCreate() PxJoint
*/
class PxFixedJoint : public PxJoint
{
public:
	
	/**
	\brief Returns string name of PxFixedJoint, used for serialization
	*/
	virtual	const char*			getConcreteTypeName() const { return "PxFixedJoint"; }

protected:

	//serialization

	/**
	\brief Constructor
	*/
	PX_INLINE					PxFixedJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

	/**
	\brief Deserialization constructor
	*/
	PX_INLINE					PxFixedJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags)	{}

	/**
	\brief Returns whether a given type name matches with the type of this instance
	*/
	virtual	bool				isKindOf(const char* name) const { return !::strcmp("PxFixedJoint", name) || PxJoint::isKindOf(name);	}

	//~serialization
};

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif