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_GEAR_JOINT_H
++ #define PX_GEAR_JOINT_H
++
++ #include "extensions/PxJoint.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxGearJoint;
++
++ /**
++ \brief Create a gear 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 PxGearJoint
++ */
++ PxGearJoint* PxGearJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++ /**
++ \brief A joint that connects two existing revolute joints and constrains their relative angular velocity with respect to each other.
++
++ \see PxGearJointCreate PxJoint
++ */
++ class PxGearJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief Set the hinge/revolute joints connected by the gear joint.
++
++ The passed joints can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate.
++ The joints must define degrees of freedom around the twist axis.
++
++ Note that these joints are only used to compute the positional error correction term,
++ used to adjust potential drift between jointed actors. The gear joint can run without
++ calling this function, but in that case some visible overlap may develop over time between
++ the teeth of the gear meshes.
++
++ \note Calling this function resets the internal positional error correction term.
++
++ \param[in] hinge0 The first hinge joint
++ \param[in] hinge1 The second hinge joint
++ \return true if success
++ */
++ virtual bool setHinges(const PxBase* hinge0, const PxBase* hinge1) = 0;
++
++ /**
++ \brief Get the hinge/revolute joints connected by the gear joint.
++
++ \param[out] hinge0 The first hinge joint
++ \param[out] hinge1 The second hinge joint
++ */
++ virtual void getHinges(const PxBase*& hinge0, const PxBase*& hinge1) const = 0;
++
++ /**
++ \brief Set the desired gear ratio.
++
++ For two gears with n0 and n1 teeth respectively, the gear ratio is n0/n1.
++
++ \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 two hinges.
++ */
++ virtual void setGearRatio(float ratio) = 0;
++
++ /**
++ \brief Get the gear ratio.
++
++ \return Current ratio
++ */
++ virtual float getGearRatio() const = 0;
++
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxGearJoint"; }
++
++ protected:
++
++ PX_INLINE PxGearJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ PX_INLINE PxGearJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
++
++ virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxGearJoint", PxJoint); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif