90 lines
3.5 KiB
C++
90 lines
3.5 KiB
C++
// 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) 2008-2025 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 EXT_GEAR_JOINT_H
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#define EXT_GEAR_JOINT_H
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#include "extensions/PxGearJoint.h"
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#include "ExtJoint.h"
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#include "CmUtils.h"
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namespace physx
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{
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struct PxGearJointGeneratedValues;
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namespace Ext
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{
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struct GearJointData : public JointData
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{
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const PxBase* hingeJoint0; //either PxJoint or PxArticulationJointReducedCoordinate
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const PxBase* hingeJoint1; //either PxJoint or PxArticulationJointReducedCoordinate
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float gearRatio;
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float error;
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};
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typedef JointT<PxGearJoint, GearJointData, PxGearJointGeneratedValues> GearJointT;
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class GearJoint : public GearJointT
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{
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public:
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// PX_SERIALIZATION
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GearJoint(PxBaseFlags baseFlags) : GearJointT(baseFlags) {}
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void resolveReferences(PxDeserializationContext& context);
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static GearJoint* createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<GearJoint>(address, context); }
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//~PX_SERIALIZATION
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GearJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
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// PxGearJoint
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virtual bool setHinges(const PxBase* hinge0, const PxBase* hinge1) PX_OVERRIDE;
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virtual void getHinges(const PxBase*& hinge0, const PxBase*& hinge1) const PX_OVERRIDE;
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virtual void setGearRatio(float ratio) PX_OVERRIDE;
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virtual float getGearRatio() const PX_OVERRIDE;
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//~PxGearJoint
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// PxConstraintConnector
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virtual void* prepareData() PX_OVERRIDE
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{
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updateError();
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return mData;
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}
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virtual PxConstraintSolverPrep getPrep() const PX_OVERRIDE;
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//~PxConstraintConnector
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private:
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float mVirtualAngle0;
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float mVirtualAngle1;
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float mPersistentAngle0;
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float mPersistentAngle1;
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bool mInitDone;
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void updateError();
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void resetError();
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};
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} // namespace Ext
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}
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#endif
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