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_RACK_AND_PINION_JOINT_H
++ #define PX_RACK_AND_PINION_JOINT_H
++
++ #include "extensions/PxJoint.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxRackAndPinionJoint;
++
++ /**
++ \brief Create a rack & pinion 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 PxRackAndPinionJoint
++ */
++ PxRackAndPinionJoint* PxRackAndPinionJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++ /**
++ \brief A joint that connects an existing revolute joint to an existing prismatic joint,
++ and constrains their relative angular/linear velocity and position with respect to each other.
++
++ \see PxRackAndPinionJointCreate PxJoint
++ */
++ class PxRackAndPinionJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief Set the hinge & prismatic joints connected by the rack & pinion joint.
++
++ The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate.
++ The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint.
++
++ Note that these joints are only used to compute the positional error correction term,
++ used to adjust potential drift between jointed actors. The rack & pinion joint can run without
++ calling this function, but in that case some visible overlap may develop over time between
++ the teeth of the rack & pinion meshes.
++
++ \note Calling this function resets the internal positional error correction term.
++
++ \param[in] hinge The hinge joint (pinion)
++ \param[in] prismatic The prismatic joint (rack)
++ \return true if success
++ */
++ virtual bool setJoints(const PxBase* hinge, const PxBase* prismatic) = 0;
++
++ /**
++ \brief Get the hinge & prismatic joints connected by the rack & pinion joint.
++
++ \param[out] hinge The hinge joint (pinion)
++ \param[out] prismatic The prismatic joint (rack)
++ */
++ virtual void getJoints(const PxBase*& hinge, const PxBase*& prismatic) const = 0;
++
++ /**
++ \brief Set the desired ratio directly.
++
++ \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 hinge and the prismatic.
++ */
++ virtual void setRatio(float ratio) = 0;
++
++ /**
++ \brief Get the ratio.
++
++ \return Current ratio
++ */
++ virtual float getRatio() const = 0;
++
++ /**
++ \brief Set the desired ratio indirectly.
++
++ This is a simple helper function that computes the ratio from passed data:
++
++ ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)
++
++ \note Calling this function resets the internal positional error correction term.
++
++ \param[in] nbRackTeeth Number of teeth on the rack (cannot be zero)
++ \param[in] nbPinionTeeth Number of teeth on the pinion (cannot be zero)
++ \param[in] rackLength Length of the rack
++ \return true if success
++ */
++ virtual bool setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength) = 0;
++
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxRackAndPinionJoint"; }
++
++ protected:
++
++ PX_INLINE PxRackAndPinionJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ PX_INLINE PxRackAndPinionJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
++
++ virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxRackAndPinionJoint", PxJoint); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif