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_SPHERICAL_JOINT_H
++ #define PX_SPHERICAL_JOINT_H
++
++ #include "extensions/PxJoint.h"
++ #include "extensions/PxJointLimit.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxSphericalJoint;
++
++ /**
++ \brief Create a spherical 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 PxSphericalJoint
++ */
++ PxSphericalJoint* PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
++
++
++ /**
++ \brief Flags specific to the spherical joint.
++
++ \see PxSphericalJoint
++ */
++ struct PxSphericalJointFlag
++ {
++ enum Enum
++ {
++ eLIMIT_ENABLED = 1<<1 //!< the cone limit for the spherical joint is enabled
++ };
++ };
++ typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
++ PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)
++
++ /**
++ \brief A joint which behaves in a similar way to a ball and socket.
++
++ A spherical joint removes all linear degrees of freedom from two objects.
++
++ The position of the joint on each actor is specified by the origin of the body's joint frame.
++
++ A spherical joint may have a cone limit, to restrict the motion to within a certain range.
++
++ Dirve and limits are activated by setting the appropriate flags on the joint.
++
++ \see PxRevoluteJointCreate() PxJoint
++ */
++ class PxSphericalJoint : public PxJoint
++ {
++ public:
++
++ /**
++ \brief Set the limit cone.
++
++ If enabled, the limit cone will constrain the angular movement of the joint to lie
++ within an elliptical cone.
++
++ \return the limit cone
++
++ \see PxJointLimitCone setLimit()
++ */
++ virtual PxJointLimitCone getLimitCone() const = 0;
++
++ /**
++ \brief Get the limit cone.
++
++ \param[in] limit the limit cone
++
++ \see PxJointLimitCone getLimit()
++ */
++ virtual void setLimitCone(const PxJointLimitCone& limit) = 0;
++
++ /**
++ \brief get the swing angle of the joint from the Y axis
++ */
++ virtual PxReal getSwingYAngle() const = 0;
++
++ /**
++ \brief get the swing angle of the joint from the Z axis
++ */
++ virtual PxReal getSwingZAngle() const = 0;
++
++ /**
++ \brief Set the flags specific to the Spherical Joint.
++
++ <b>Default</b> PxSphericalJointFlags(0)
++
++ \param[in] flags The joint flags.
++
++ \see PxSphericalJointFlag setFlag() getFlags()
++ */
++ virtual void setSphericalJointFlags(PxSphericalJointFlags flags) = 0;
++
++ /**
++ \brief Set a single flag specific to a Spherical 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 PxSphericalJointFlag, getFlags() setFlags()
++ */
++ virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;
++
++ /**
++ \brief Get the flags specific to the Spherical Joint.
++
++ \return the joint flags
++
++ \see PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()
++ */
++ virtual PxSphericalJointFlags getSphericalJointFlags() const = 0;
++
++ /**
++ \brief Returns string name of PxSphericalJoint, used for serialization
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxSphericalJoint"; }
++
++ protected:
++
++ //serialization
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
++
++ /**
++ \brief Deserialization constructor
++ */
++ PX_INLINE PxSphericalJoint(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, "PxSphericalJoint", PxJoint); }
++
++ //~serialization
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif