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_DISTANCE_JOINT_H
++ #define PX_DISTANCE_JOINT_H
++
++ #include "extensions/PxJoint.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxDistanceJoint;
++
++ /**
++ \brief Create a distance 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 PxDistanceJoint
++ */
++ PxDistanceJoint* PxDistanceJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++
++ /**
++ \brief flags for configuring the drive of a PxDistanceJoint
++
++ \see PxDistanceJoint
++ */
++ struct PxDistanceJointFlag
++ {
++ enum Enum
++ {
++ eMAX_DISTANCE_ENABLED = 1<<1,
++ eMIN_DISTANCE_ENABLED = 1<<2,
++ eSPRING_ENABLED = 1<<3
++ };
++ };
++
++ typedef PxFlags<PxDistanceJointFlag::Enum, PxU16> PxDistanceJointFlags;
++ PX_FLAGS_OPERATORS(PxDistanceJointFlag::Enum, PxU16)
++
++ /**
++ \brief a joint that maintains an upper or lower bound (or both) on the distance between two points on different objects
++
++ \see PxDistanceJointCreate PxJoint
++ */
++ class PxDistanceJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief Return the current distance of the joint
++ */
++ virtual PxReal getDistance() const = 0;
++
++ /**
++ \brief Set the allowed minimum distance for the joint.
++
++ The minimum distance must be no more than the maximum distance
++
++ <b>Default</b> 0.0f
++ <b>Range</b> [0, PX_MAX_F32)
++
++ \param[in] distance the minimum distance
++
++ \see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED getMinDistance()
++ */
++ virtual void setMinDistance(PxReal distance) = 0;
++
++ /**
++ \brief Get the allowed minimum distance for the joint.
++
++ \return the allowed minimum distance
++
++ \see PxDistanceJoint::minDistance, PxDistanceJointFlag::eMIN_DISTANCE_ENABLED setMinDistance()
++ */
++ virtual PxReal getMinDistance() const = 0;
++
++ /**
++ \brief Set the allowed maximum distance for the joint.
++
++ The maximum distance must be no less than the minimum distance.
++
++ <b>Default</b> 0.0f
++ <b>Range</b> [0, PX_MAX_F32)
++
++ \param[in] distance the maximum distance
++
++ \see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED getMinDistance()
++ */
++ virtual void setMaxDistance(PxReal distance) = 0;
++
++ /**
++ \brief Get the allowed maximum distance for the joint.
++
++ \return the allowed maximum distance
++
++ \see PxDistanceJoint::maxDistance, PxDistanceJointFlag::eMAX_DISTANCE_ENABLED setMaxDistance()
++ */
++ virtual PxReal getMaxDistance() const = 0;
++
++ /**
++ \brief Set the error tolerance of the joint.
++
++ \param[in] tolerance the distance beyond the allowed range at which the joint becomes active
++
++ \see PxDistanceJoint::tolerance, getTolerance()
++ */
++ virtual void setTolerance(PxReal tolerance) = 0;
++
++ /**
++ \brief Get the error tolerance of the joint.
++
++ the distance beyond the joint's [min, max] range before the joint becomes active.
++
++ <b>Default</b> 0.25f * PxTolerancesScale::length
++ <b>Range</b> (0, PX_MAX_F32)
++
++ This value should be used to ensure that if the minimum distance is zero and the
++ spring function is in use, the rest length of the spring is non-zero.
++
++ \see PxDistanceJoint::tolerance, setTolerance()
++ */
++ virtual PxReal getTolerance() const = 0;
++
++ /**
++ \brief Set the strength of the joint spring.
++
++ The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
++
++ <b>Default</b> 0.0f
++ <b>Range</b> [0, PX_MAX_F32)
++
++ \param[in] stiffness the spring strength of the joint
++
++ \see PxDistanceJointFlag::eSPRING_ENABLED getStiffness()
++ */
++ virtual void setStiffness(PxReal stiffness) = 0;
++
++ /**
++ \brief Get the strength of the joint spring.
++
++ \return stiffness the spring strength of the joint
++
++ \see PxDistanceJointFlag::eSPRING_ENABLED setStiffness()
++ */
++ virtual PxReal getStiffness() const = 0;
++
++ /**
++ \brief Set the damping of the joint spring.
++
++ The spring is used if enabled, and the distance exceeds the range [min-error, max+error].
++
++ <b>Default</b> 0.0f
++ <b>Range</b> [0, PX_MAX_F32)
++
++ \param[in] damping the degree of damping of the joint spring of the joint
++
++ \see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
++ */
++ virtual void setDamping(PxReal damping) = 0;
++
++ /**
++ \brief Get the damping of the joint spring.
++
++ \return the degree of damping of the joint spring of the joint
++
++ \see PxDistanceJointFlag::eSPRING_ENABLED setDamping()
++ */
++ virtual PxReal getDamping() const = 0;
++
++ /**
++ \brief Set the flags specific to the Distance Joint.
++
++ <b>Default</b> PxDistanceJointFlag::eMAX_DISTANCE_ENABLED
++
++ \param[in] flags The joint flags.
++
++ \see PxDistanceJointFlag setFlag() getFlags()
++ */
++ virtual void setDistanceJointFlags(PxDistanceJointFlags flags) = 0;
++
++ /**
++ \brief Set a single flag specific to a Distance Joint to true or false.
++
++ \param[in] flag The flag to set or clear.
++ \param[in] value the value to which to set the flag
++
++ \see PxDistanceJointFlag, getFlags() setFlags()
++ */
++ virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value) = 0;
++
++ /**
++ \brief Get the flags specific to the Distance Joint.
++
++ \return the joint flags
++
++ \see PxDistanceJoint::flags, PxDistanceJointFlag setFlag() setFlags()
++ */
++ virtual PxDistanceJointFlags getDistanceJointFlags() const = 0;
++
++ /**
++ \brief Returns string name of PxDistanceJoint, used for serialization
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxDistanceJoint"; }
++
++ protected:
++
++ //serialization
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE PxDistanceJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ /**
++ \brief Deserialization constructor
++ */
++ PX_INLINE PxDistanceJoint(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 PX_OVERRIDE { PX_IS_KIND_OF(name, "PxDistanceJoint", PxJoint); }
++
++ //~serialization
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif