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++ // 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_D6_JOINT_CREATE_H
++ #define PX_D6_JOINT_CREATE_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxVec3.h"
++
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxPhysics;
++ class PxRigidActor;
++ class PxJoint;
++
++ /**
++ \brief Helper function to create a fixed joint, using either a PxD6Joint or PxFixedJoint.
++
++ For fixed joints it is important that the joint frames have the same orientation. This helper function uses an identity rotation for both.
++ 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
++ to ensure that this is the case.
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxFixedJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxFixedJoint
++ */
++ PxJoint* PxD6JointCreate_Fixed(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, bool useD6);
++
++ /**
++ \brief Helper function to create a distance joint, using either a PxD6Joint or PxDistanceJoint.
++
++ This helper function only supports a maximum distance constraint, because PxD6Joint does not support a minimum distance constraint (contrary
++ to PxDistanceJoint).
++
++ The distance is computed between the joint frames' world-space positions. The joint frames' orientations are irrelevant here so the function
++ sets them to identity.
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] maxDist The maximum allowed distance
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxDistanceJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxDistanceJoint
++ */
++ PxJoint* PxD6JointCreate_Distance(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, float maxDist, bool useD6);
++
++ /**
++ \brief Helper function to create a prismatic joint, using either a PxD6Joint or PxPrismaticJoint.
++
++ This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired translation axis.
++ 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).
++
++ The translation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the
++ limits are not enforced and the axis is free. The limit values are computed relative to the position of actor0's joint frame.
++
++ The function creates hard limits, and uses PhysX's default contact distance parameter.
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] axis The axis along which objects are allowed to move, expressed in the actors' local space
++ \param[in] minLimit The minimum allowed position along the axis
++ \param[in] maxLimit The maximum allowed position along the axis
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxPrismaticJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxPrismaticJoint
++ */
++ PxJoint* PxD6JointCreate_Prismatic(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float minLimit, float maxLimit, bool useD6);
++
++ /**
++ \brief Helper function to create a revolute joint, using either a PxD6Joint or PxRevoluteJoint.
++
++ This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired rotation axis.
++ 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).
++
++ The rotation can be limited. Limits are enforced if minLimit<maxLimit. If minLimit=maxLimit the axis is locked. If minLimit>maxLimit the
++ limits are not enforced and the axis is free. The limit values are computed relative to the rotation of actor0's joint frame.
++
++ The function creates hard limits, and uses PhysX's default contact distance parameter.
++
++ Limits are expressed in radians. Allowed range is ]-2*PI;+2*PI[
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] axis The axis around which objects are allowed to move, expressed in the actors' local space
++ \param[in] minLimit The minimum allowed rotation along the axis
++ \param[in] maxLimit The maximum allowed rotation along the axis
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxRevoluteJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxRevoluteJoint
++ */
++ PxJoint* PxD6JointCreate_Revolute(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float minLimit, float maxLimit, bool useD6);
++
++ /**
++ \brief Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
++
++ This function supports a cone limit shape, defined by a cone axis and two angular limit values.
++
++ This function enforces that the joint frames have the same orientation, which is a local frame whose X is the desired cone axis.
++ 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).
++
++ 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,
++ which is the cross-section of the cone limit shape.
++
++ The function creates hard limits, and uses PhysX's default contact distance parameter.
++
++ Limits are expressed in radians. Allowed range is ]0;PI[. Limits are symmetric around the cone axis.
++
++ The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] axis The cone axis, expressed in the actors' local space
++ \param[in] limit1 Max angular limit for the ellipse along the joint frame's second axis (first axis = cone axis)
++ \param[in] limit2 Max angular limit for the ellipse along the joint frame's third axis (first axis = cone axis)
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxSphericalJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxSphericalJoint
++ */
++ PxJoint* PxD6JointCreate_Spherical(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis, float limit1, float limit2, bool useD6);
++
++ /**
++ \brief Helper function to create a spherical joint, using either a PxD6Joint or PxSphericalJoint.
++
++ 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
++ angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the cone axis is the X axis in actor0's space.
++ If the limits are not symmetric, the function rotates the cone axis accordingly so that limits remain symmetric for PhysX. If this happens,
++ the initial joint frames will be different for both actors. By default minLimit1/maxLimit1 are limits around the joint's Y axis, and
++ minLimit2/maxLimit2 are limits around the joint's Z axis.
++
++ The function creates hard limits, and uses PhysX's default contact distance parameter.
++
++ Limits are expressed in radians. Allowed range is ]-PI;PI[.
++
++ The cone axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
++
++ The returned apiroty and apirotz values can later be added to retrieved Y and Z swing angle values (from the joint), to remap
++ angle values to the given input range.
++
++ \param[out] apiroty Amount of rotation around Y used to setup actor0's joint frame
++ \param[out] apirotz Amount of rotation around Z used to setup actor0's joint frame
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] minLimit1 Min angular limit along the joint frame's second axis (first axis = cone axis)
++ \param[in] maxLimit1 Max angular limit along the joint frame's second axis (first axis = cone axis)
++ \param[in] minLimit2 Min angular limit along the joint frame's third axis (first axis = cone axis)
++ \param[in] maxLimit2 Max angular limit along the joint frame's third axis (first axis = cone axis)
++ \param[in] useD6 True to use a PxD6Joint, false to use a PxSphericalJoint;
++
++ \return The created joint.
++
++ \see PxD6Joint PxSphericalJoint
++ */
++ 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);
++
++
++ /**
++ \brief Helper function to create a D6 joint with pyramidal swing limits.
++
++ 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
++ angular limit values are symmetric (i.e. minLimit1=-maxLimit1 and minLimit2=-maxLimit2) then the pyramid axis is the X axis in actor0's space.
++ By default minLimit1/maxLimit1 are limits around the joint's Y axis, and minLimit2/maxLimit2 are limits around the joint's Z axis.
++
++ The function creates hard limits, and uses PhysX's default contact distance parameter.
++
++ Limits are expressed in radians. Allowed range is ]-PI;PI[.
++
++ The pyramid axis is equivalent to the twist axis for the D6 joint. The twist motion is not limited.
++
++ \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] localPos0 The position 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] localPos1 The position of the joint relative to actor1
++ \param[in] axis The pyramid axis, expressed in the actors' local space
++ \param[in] minLimit1 Min angular limit along the joint frame's second axis (first axis = pyramid axis)
++ \param[in] maxLimit1 Max angular limit along the joint frame's second axis (first axis = pyramid axis)
++ \param[in] minLimit2 Min angular limit along the joint frame's third axis (first axis = pyramid axis)
++ \param[in] maxLimit2 Max angular limit along the joint frame's third axis (first axis = pyramid axis)
++
++ \return The created joint.
++
++ \see PxD6Joint
++ */
++ PxJoint* PxD6JointCreate_Pyramid(PxPhysics& physics, PxRigidActor* actor0, const PxVec3& localPos0, PxRigidActor* actor1, const PxVec3& localPos1, const PxVec3& axis,
++ float minLimit1, float maxLimit1, float minLimit2, float maxLimit2);
++
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif