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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_REVOLUTE_JOINT_H
++ #define PX_REVOLUTE_JOINT_H
++
++ #include "extensions/PxJoint.h"
++ #include "extensions/PxJointLimit.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxRevoluteJoint;
++
++ /**
++ \brief Create a revolute 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 PxRevoluteJoint
++ */
++ PxRevoluteJoint* PxRevoluteJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++ /**
++ \brief Flags specific to the Revolute Joint.
++
++ \see PxRevoluteJoint
++ */
++ struct PxRevoluteJointFlag
++ {
++ enum Enum
++ {
++ eLIMIT_ENABLED = 1<<0, //!< enable the limit
++ eDRIVE_ENABLED = 1<<1, //!< enable the drive
++ eDRIVE_FREESPIN = 1<<2 //!< if the existing velocity is beyond the drive velocity, do not add force
++ };
++ };
++
++ typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
++ PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)
++
++ /**
++
++ \brief A joint which behaves in a similar way to a hinge or axle.
++
++ A hinge joint removes all but a single rotational degree of freedom from two objects.
++ The axis along which the two bodies may rotate is specified with a point and a direction
++ vector.
++
++ The position of the hinge on each body is specified by the origin of the body's joint frame.
++ The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.
++
++ \image html revoluteJoint.png
++
++ A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors.
++ It may also be given a limit, to restrict the revolute motion to within a certain range.
++
++ Drive and limits are activated by setting the appropriate flags on the joint.
++
++ \see PxRevoluteJointCreate() PxJoint
++ */
++ class PxRevoluteJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief return the angle of the joint, in the range (-2*Pi, 2*Pi]
++ */
++ virtual PxReal getAngle() const = 0;
++
++ /**
++ \brief return the velocity of the joint
++ */
++ virtual PxReal getVelocity() const = 0;
++
++ /**
++ \brief set the joint limit parameters.
++
++ The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED
++
++ The limit angle range is (-2*Pi, 2*Pi).
++
++ \param[in] limits The joint limit parameters.
++
++ \see PxJointAngularLimitPair getLimit()
++ */
++ virtual void setLimit(const PxJointAngularLimitPair& limits) = 0;
++
++ /**
++ \brief get the joint limit parameters.
++
++ \return the joint limit parameters
++
++ \see PxJointAngularLimitPair setLimit()
++ */
++ virtual PxJointAngularLimitPair getLimit() const = 0;
++
++ /**
++ \brief set the target velocity for the drive model.
++
++ The motor will only be able to reach this velocity if the maxForce is sufficiently large.
++ If the joint is spinning faster than this velocity, the motor will actually try to brake
++ (see PxRevoluteJointFlag::eDRIVE_FREESPIN.)
++
++ The sign of this variable determines the rotation direction, with positive values going
++ the same way as positive joint angles. Setting a very large target velocity may cause
++ undesirable results.
++
++ \param[in] velocity the drive target velocity
++ \param[in] autowake Whether to wake up the joint rigids if they are asleep.
++
++ <b>Range:</b> (-PX_MAX_F32, PX_MAX_F32)<br>
++ <b>Default:</b> 0.0
++
++ \see PxRevoluteFlags::eDRIVE_FREESPIN
++ */
++ virtual void setDriveVelocity(PxReal velocity, bool autowake = true) = 0;
++
++ /**
++ \brief gets the target velocity for the drive model.
++
++ \return the drive target velocity
++
++ \see setDriveVelocity()
++ */
++ virtual PxReal getDriveVelocity() const = 0;
++
++ /**
++ \brief sets the maximum torque the drive can exert.
++
++ The value set here may be used either as an impulse limit or a force limit, depending on the flag PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES
++
++ <b>Range:</b> [0, PX_MAX_F32)<br>
++ <b>Default:</b> PX_MAX_F32
++
++ \see setDriveVelocity()
++ */
++ virtual void setDriveForceLimit(PxReal limit) = 0;
++
++ /**
++ \brief gets the maximum torque the drive can exert.
++
++ \return the torque limit
++
++ \see setDriveVelocity()
++ */
++ virtual PxReal getDriveForceLimit() const = 0;
++
++ /**
++ \brief sets the gear ratio for the drive.
++
++ When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down.
++ So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio
++
++ <b>Range:</b> [0, PX_MAX_F32)<br>
++ <b>Default:</b> 1.0
++
++ \param[in] ratio the drive gear ratio
++
++ \see getDriveGearRatio()
++ */
++ virtual void setDriveGearRatio(PxReal ratio) = 0;
++
++ /**
++ \brief gets the gear ratio.
++
++ \return the drive gear ratio
++
++ \see setDriveGearRatio()
++ */
++ virtual PxReal getDriveGearRatio() const = 0;
++
++ /**
++ \brief sets the flags specific to the Revolute Joint.
++
++ <b>Default</b> PxRevoluteJointFlags(0)
++
++ \param[in] flags The joint flags.
++
++ \see PxRevoluteJointFlag setFlag() getFlags()
++ */
++ virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
++
++ /**
++ \brief sets a single flag specific to a Revolute Joint.
++
++ \param[in] flag The flag to set or clear.
++ \param[in] value the value to which to set the flag
++
++ \see PxRevoluteJointFlag, getFlags() setFlags()
++ */
++ virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
++
++ /**
++ \brief gets the flags specific to the Revolute Joint.
++
++ \return the joint flags
++
++ \see PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()
++ */
++ virtual PxRevoluteJointFlags getRevoluteJointFlags() const = 0;
++
++ /**
++ \brief Returns string name of PxRevoluteJoint, used for serialization
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxRevoluteJoint"; }
++
++ protected:
++
++ //serialization
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE PxRevoluteJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ /**
++ \brief Deserialization constructor
++ */
++ PX_INLINE PxRevoluteJoint(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, "PxRevoluteJoint", PxJoint); }
++
++ //~serialization
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif