137 lines
5.4 KiB
C++
137 lines
5.4 KiB
C++
// 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_RACK_AND_PINION_JOINT_H
|
|
#define PX_RACK_AND_PINION_JOINT_H
|
|
/** \addtogroup extensions
|
|
@{
|
|
*/
|
|
|
|
#include "extensions/PxJoint.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
#endif
|
|
|
|
class PxRackAndPinionJoint;
|
|
|
|
/**
|
|
\brief Create a rack & pinion 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 PxRackAndPinionJoint
|
|
*/
|
|
PxRackAndPinionJoint* PxRackAndPinionJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
|
|
|
|
/**
|
|
\brief A joint that connects an existing revolute joint to an existing prismatic joint,
|
|
and constrains their relative angular/linear velocity and position with respect to each other.
|
|
|
|
@see PxRackAndPinionJointCreate PxJoint
|
|
*/
|
|
class PxRackAndPinionJoint : public PxJoint
|
|
{
|
|
public:
|
|
|
|
/**
|
|
\brief Set the hinge & prismatic joints connected by the rack & pinion joint.
|
|
|
|
The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate. It cannot be null.
|
|
The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint. It cannot be null.
|
|
|
|
Note that these joints are only used to compute the positional error correction term,
|
|
used to adjust potential drift between jointed actors. The rack & pinion joint can run without
|
|
calling this function, but in that case some visible overlap may develop over time between
|
|
the teeth of the rack & pinion meshes.
|
|
|
|
\note Calling this function resets the internal positional error correction term.
|
|
|
|
\param[in] hinge The hinge joint (pinion)
|
|
\param[in] prismatic The prismatic joint (rack)
|
|
\return true if success
|
|
*/
|
|
virtual bool setJoints(const PxBase* hinge, const PxBase* prismatic) = 0;
|
|
|
|
/**
|
|
\brief Set the desired ratio directly.
|
|
|
|
\note You may need to use a negative gear ratio if the joint frames of involved actors are not oriented in the same direction.
|
|
|
|
\note Calling this function resets the internal positional error correction term.
|
|
|
|
\param[in] ratio Desired ratio between the hinge and the prismatic.
|
|
*/
|
|
virtual void setRatio(float ratio) = 0;
|
|
|
|
/**
|
|
\brief Get the ratio.
|
|
|
|
\return Current ratio
|
|
*/
|
|
virtual float getRatio() const = 0;
|
|
|
|
/**
|
|
\brief Set the desired ratio indirectly.
|
|
|
|
This is a simple helper function that computes the ratio from passed data:
|
|
|
|
ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)
|
|
|
|
\note Calling this function resets the internal positional error correction term.
|
|
|
|
\param[in] nbRackTeeth Number of teeth on the rack (cannot be zero)
|
|
\param[in] nbPinionTeeth Number of teeth on the pinion (cannot be zero)
|
|
\param[in] rackLength Length of the rack
|
|
\return true if success
|
|
*/
|
|
virtual bool setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength) = 0;
|
|
|
|
virtual const char* getConcreteTypeName() const { return "PxRackAndPinionJoint"; }
|
|
|
|
protected:
|
|
|
|
PX_INLINE PxRackAndPinionJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
|
|
|
|
PX_INLINE PxRackAndPinionJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
|
|
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxRackAndPinionJoint", name) || PxJoint::isKindOf(name); }
|
|
};
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|
|
#endif
|