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_PRISMATIC_JOINT_H
++ #define PX_PRISMATIC_JOINT_H
++
++ #include "extensions/PxJoint.h"
++ #include "extensions/PxJointLimit.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxPrismaticJoint;
++
++ /**
++ \brief Create a prismatic 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 PxPrismaticJoint
++ */
++ PxPrismaticJoint* PxPrismaticJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++
++ /**
++ \brief Flags specific to the prismatic joint.
++
++ \see PxPrismaticJoint
++ */
++ struct PxPrismaticJointFlag
++ {
++ enum Enum
++ {
++ eLIMIT_ENABLED = 1<<1
++ };
++ };
++
++ typedef PxFlags<PxPrismaticJointFlag::Enum, PxU16> PxPrismaticJointFlags;
++ PX_FLAGS_OPERATORS(PxPrismaticJointFlag::Enum, PxU16)
++
++ /**
++ \brief A prismatic joint permits relative translational movement between two bodies along
++ an axis, but no relative rotational movement.
++
++ The axis on each body is defined as the line containing the origin of the joint frame and
++ extending along the x-axis of that frame.
++
++ \image html prismJoint.png
++
++ \see PxPrismaticJointCreate() PxJoint
++ */
++ class PxPrismaticJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief returns the displacement of the joint along its axis.
++ */
++ virtual PxReal getPosition() const = 0;
++
++ /**
++ \brief returns the velocity of the joint along its axis
++ */
++ virtual PxReal getVelocity() const = 0;
++
++ /**
++ \brief sets the joint limit parameters.
++
++ The limit range is [-PX_MAX_F32, PX_MAX_F32], but note that the width of the limit (upper-lower) must also be
++ a valid float.
++
++ \see PxJointLinearLimitPair getLimit()
++ */
++ virtual void setLimit(const PxJointLinearLimitPair&) = 0;
++
++ /**
++ \brief gets the joint limit parameters.
++
++ \see PxJointLinearLimit getLimit()
++ */
++ virtual PxJointLinearLimitPair getLimit() const = 0;
++
++ /**
++ \brief Set the flags specific to the Prismatic Joint.
++
++ <b>Default</b> PxPrismaticJointFlags(0)
++
++ \param[in] flags The joint flags.
++
++ \see PxPrismaticJointFlag setFlag() getFlags()
++ */
++ virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags) = 0;
++
++ /**
++ \brief Set a single flag specific to a Prismatic 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 PxPrismaticJointFlag, getFlags() setFlags()
++ */
++ virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value) = 0;
++
++ /**
++ \brief Get the flags specific to the Prismatic Joint.
++
++ \return the joint flags
++
++ \see PxPrismaticJoint::flags, PxPrismaticJointFlag setFlag() setFlags()
++ */
++ virtual PxPrismaticJointFlags getPrismaticJointFlags() const = 0;
++
++ /**
++ \brief Returns string name of PxPrismaticJoint, used for serialization
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxPrismaticJoint"; }
++
++ protected:
++ //serialization
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE PxPrismaticJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ /**
++ \brief Deserialization constructor
++ */
++ PX_INLINE PxPrismaticJoint(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, "PxPrismaticJoint", PxJoint); }
++
++ //~serialization
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif