Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++
++ #ifndef PX_ARTICULATION_MIMIC_JOINT_H
++ #define PX_ARTICULATION_MIMIC_JOINT_H
++
++ #include "foundation/PxSimpleTypes.h"
++ #include "solver/PxSolverDefs.h"
++ #include "common/PxBase.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxArticulationReducedCoordinate;
++ class PxArticulationJointReducedCoordinate;
++
++ /**
++ * \brief A mimic joint enforces a linear relationship between the positions of two joints of the same articulation instance.
++ \see PxArticulationReducedCoodinate::createMimicJoint()
++ */
++ class PxArticulationMimicJoint : public PxBase
++ {
++ public:
++
++ /**
++ \brief Releases the mimic joint.
++
++ \note Releasing a mimic joint is not allowed while the articulation is in a scene. In order to
++ release a mimic joint, remove and then re-add the articulation to the scene.
++ */
++ virtual void release() PX_OVERRIDE = 0;
++
++ /**
++ \brief Returns the articulation that this mimic joint is part of.
++
++ \return A reference to the articulation.
++ */
++ virtual PxArticulationReducedCoordinate& getArticulation() const = 0;
++
++ /**
++ \brief Get the gear of a mimic joint.
++ \return The gear ratio.
++ */
++ virtual PxReal getGearRatio() const = 0;
++
++ /**
++ \brief Set the gear ratio of a mimic joint.
++ \param[in] gearRatio is the new gear ratio to be used in the next simulation step.
++ */
++ virtual void setGearRatio(PxReal gearRatio) = 0;
++
++ /**
++ \brief Get the offset of a mimic joint.
++ \return The offset.
++ */
++ virtual PxReal getOffset() const = 0;
++
++ /**
++ \brief Set the offset of a mimic joint.
++ \param[in] offset is the new offset to be used in the next simulation step.
++ */
++ virtual void setOffset(PxReal offset) = 0;
++
++ /**
++ \brief Get the natural frequency of a mimic joint.
++ \return The natural frequency.
++ */
++ virtual PxReal getNaturalFrequency() const = 0;
++
++ /**
++ \brief Set the natural frequency of a mimic joint.
++ \param[in] naturalFrequency is the new natural frequency to be used in the next simulation step.
++ */
++ virtual void setNaturalFrequency(PxReal naturalFrequency) = 0;
++
++ /**
++ \brief Get the damping ratio of a mimic joint.
++ \return The damping ratio.
++ */
++ virtual PxReal getDampingRatio() const = 0;
++
++ /**
++ \brief Set the damping ratio of a mimic joint.
++ \param[in] dampingRatio is the new damping ratio to be used in the next simulation step.
++ */
++ virtual void setDampingRatio(PxReal dampingRatio) = 0;
++
++
++ /**
++ \brief Return the jointA specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \return The jointA specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \see PxArticulationReducedCoordinate::createMimicJoint()
++ */
++ virtual PxArticulationJointReducedCoordinate& getJointA() const = 0;
++
++ /**
++ \brief Return the jointB specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \return The jointB specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \see PxArticulationReducedCoordinate::createMimicJoint()
++ */
++ virtual PxArticulationJointReducedCoordinate& getJointB() const = 0;
++
++ /**
++ \brief Return the axisA specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \return The axisA specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \see PxArticulationReducedCoordinate::createMimicJoint()
++ */
++
++ virtual PxArticulationAxis::Enum getAxisA() const = 0;
++
++ /**
++ \brief Return the axisB specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \return The axisB specified in PxArticulationReducedCoordinate::createMimicJoint()
++ \see PxArticulationReducedCoordinate::createMimicJoint()
++ */
++ virtual PxArticulationAxis::Enum getAxisB() const = 0;
++
++ /**
++ \brief Returns the string name of the dynamic type.
++
++ \return The string name.
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE PX_FINAL { return "PxArticulationMimicJoint"; }
++
++ virtual ~PxArticulationMimicJoint() {}
++
++ void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
++
++ protected:
++ PX_INLINE PxArticulationMimicJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
++ PX_INLINE PxArticulationMimicJoint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif //PX_ARTICULATION_MIMIC_JOINT_H