Revision control
++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
++
++ #ifndef PHYSICSJOINT_H
++ #define PHYSICSJOINT_H
++
++ //
++ // W A R N I N G
++ // -------------
++ //
++ // This file is not part of the Qt API. It exists purely as an
++ // implementation detail. This header file may change from version to
++ // version without notice, or even be removed.
++ //
++ // We mean it.
++ //
++
++ #include <QtQuick3DPhysics/qtquick3dphysicsglobal.h>
++ #include <QtQuick3DPhysics/private/qabstractphysicsbody_p.h>
++ #include <qobjectdefs.h>
++ #include <qqmlintegration.h>
++ #include <qtmetamacros.h>
++ #include <QtQml/QQmlEngine>
++
++ #include <QString>
++
++ namespace physx {
++ template<class Type>
++ class PxTransformT;
++ typedef PxTransformT<float> PxTransform;
++ class PxPhysics;
++ class PxJoint;
++ class PxRigidActor;
++ }
++
++ QT_BEGIN_NAMESPACE
++
++ class QPhysXActorBody;
++
++ class Q_QUICK3DPHYSICS_EXPORT QPhysicsJoint : public QObject
++ {
++ Q_OBJECT
++ Q_PROPERTY(QAbstractPhysicsBody *bodyA READ bodyA WRITE setBodyA NOTIFY bodyAChanged FINAL
++ REVISION(6, 12))
++ Q_PROPERTY(QAbstractPhysicsBody *bodyB READ bodyB WRITE setBodyB NOTIFY bodyBChanged FINAL
++ REVISION(6, 12))
++ Q_PROPERTY(QVector3D positionA READ positionA WRITE setPositionA NOTIFY positionAChanged FINAL
++ REVISION(6, 12))
++ Q_PROPERTY(QVector3D positionB READ positionB WRITE setPositionB NOTIFY positionBChanged FINAL
++ REVISION(6, 12))
++ Q_PROPERTY(QQuaternion orientationA READ orientationA WRITE setOrientationA NOTIFY
++ orientationAChanged FINAL REVISION(6, 12))
++ Q_PROPERTY(QQuaternion orientationB READ orientationB WRITE setOrientationB NOTIFY
++ orientationBChanged FINAL REVISION(6, 12))
++ QML_NAMED_ELEMENT(PhysicsJoint)
++ QML_UNCREATABLE("abstract interface")
++
++ public:
++ QPhysicsJoint();
++ ~QPhysicsJoint();
++
++ Q_REVISION(6, 12) QAbstractPhysicsBody *bodyA() const;
++ Q_REVISION(6, 12) void setBodyA(QAbstractPhysicsBody *newBodyA);
++ Q_REVISION(6, 12) QAbstractPhysicsBody *bodyB() const;
++ Q_REVISION(6, 12) void setBodyB(QAbstractPhysicsBody *newBodyB);
++ Q_REVISION(6, 12) QVector3D positionA() const;
++ Q_REVISION(6, 12) void setPositionA(const QVector3D &newPositionA);
++ Q_REVISION(6, 12) QVector3D positionB() const;
++ Q_REVISION(6, 12) void setPositionB(const QVector3D &newPositionB);
++ Q_REVISION(6, 12) QQuaternion orientationA() const;
++ Q_REVISION(6, 12) void setOrientationA(const QQuaternion &newOrientationA);
++ Q_REVISION(6, 12) QQuaternion orientationB() const;
++ Q_REVISION(6, 12) void setOrientationB(const QQuaternion &newOrientationB);
++
++ void updatePhysXBackend();
++ physx::PxJoint *getPhysXBackend() const;
++
++ signals:
++ Q_REVISION(6, 12) void bodyAChanged();
++ Q_REVISION(6, 12) void bodyBChanged();
++ Q_REVISION(6, 12) void positionAChanged();
++ Q_REVISION(6, 12) void positionBChanged();
++ Q_REVISION(6, 12) void orientationAChanged();
++ Q_REVISION(6, 12) void orientationBChanged();
++
++ protected:
++ virtual physx::PxJoint *createPhysxJoint(physx::PxRigidActor *actorA,
++ physx::PxRigidActor *actorB,
++ const physx::PxTransform &trfA,
++ const physx::PxTransform &trfB) = 0;
++ virtual void setJointProperties() = 0;
++ void onBodyDestroyed(QObject *body);
++
++ QAbstractPhysicsBody *m_bodyA = nullptr;
++ QAbstractPhysicsBody *m_bodyB = nullptr;
++ QVector3D m_positionA;
++ QVector3D m_positionB;
++ QQuaternion m_orientationA;
++ QQuaternion m_orientationB;
++ physx::PxJoint *m_joint = nullptr;
++ bool m_needsRebuild = false; // Set to true when body or orientation is changed
++ bool m_dirtyProperties = false; // Set to true when subclasses properties are updated
++ };
++
++ QT_END_NAMESPACE
++
++ #endif // PHYSICSJOINT_H