qd6joint_p.h - mozsearch

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// Copyright (C) 2026 The Qt Company Ltd.

// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only

#ifndef QD6JOINT_P_H

#define QD6JOINT_P_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/private/qjoint_p.h>

#include <QtQml/qqmlregistration.h>

#include <extensions/PxD6Joint.h>

QT_BEGIN_NAMESPACE

class Q_QUICK3DPHYSICS_EXPORT QD6Joint : public QPhysicsJoint

    Q_OBJECT

    // Motion states for 6 degrees of freedom

    Q_PROPERTY(Motion xMotion READ xMotion WRITE setXMotion NOTIFY xMotionChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(Motion yMotion READ yMotion WRITE setYMotion NOTIFY yMotionChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(Motion zMotion READ zMotion WRITE setZMotion NOTIFY zMotionChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(Motion twistMotion READ twistMotion WRITE setTwistMotion NOTIFY twistMotionChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(Motion swingMotionY READ swingMotionY WRITE setSwingMotionY NOTIFY swingMotionYChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(Motion swingMotionZ READ swingMotionZ WRITE setSwingMotionZ NOTIFY swingMotionZChanged

                       FINAL REVISION(6, 13))

    // Linear limits per axis

    Q_PROPERTY(float linearLimitXLower READ linearLimitXLower WRITE setLinearLimitXLower NOTIFY linearLimitXLowerChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearLimitXUpper READ linearLimitXUpper WRITE setLinearLimitXUpper NOTIFY linearLimitXUpperChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearLimitYLower READ linearLimitYLower WRITE setLinearLimitYLower NOTIFY linearLimitYLowerChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearLimitYUpper READ linearLimitYUpper WRITE setLinearLimitYUpper NOTIFY linearLimitYUpperChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearLimitZLower READ linearLimitZLower WRITE setLinearLimitZLower NOTIFY linearLimitZLowerChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearLimitZUpper READ linearLimitZUpper WRITE setLinearLimitZUpper NOTIFY linearLimitZUpperChanged

                       FINAL REVISION(6, 13))

    // Angular limits

    Q_PROPERTY(float twistLimitLower READ twistLimitLower WRITE setTwistLimitLower NOTIFY twistLimitLowerChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float twistLimitUpper READ twistLimitUpper WRITE setTwistLimitUpper NOTIFY twistLimitUpperChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float swingLimitAngleY READ swingLimitAngleY WRITE setSwingLimitAngleY NOTIFY swingLimitAngleYChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float swingLimitAngleZ READ swingLimitAngleZ WRITE setSwingLimitAngleZ NOTIFY swingLimitAngleZChanged

                       FINAL REVISION(6, 13))

    // Spring parameters for soft constraints / flexible behavior

    Q_PROPERTY(float linearStiffness READ linearStiffness WRITE setLinearStiffness NOTIFY linearStiffnessChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float linearDamping READ linearDamping WRITE setLinearDamping NOTIFY linearDampingChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float angularStiffness READ angularStiffness WRITE setAngularStiffness NOTIFY angularStiffnessChanged

                       FINAL REVISION(6, 13))

    Q_PROPERTY(float angularDamping READ angularDamping WRITE setAngularDamping NOTIFY angularDampingChanged

                       FINAL REVISION(6, 13))

    QML_NAMED_ELEMENT(D6Joint)

    QML_ADDED_IN_VERSION(6, 13)

public:

    enum class Motion {

        Locked,

        Limited,

        Free

};

    Q_ENUM(Motion)

    QD6Joint();

    ~QD6Joint() override = default;

    Motion xMotion() const;

    void setXMotion(Motion motion);

    Motion yMotion() const;

    void setYMotion(Motion motion);

    Motion zMotion() const;

    void setZMotion(Motion motion);

    Motion twistMotion() const;

    void setTwistMotion(Motion motion);

    float linearLimitXLower() const;

    void setLinearLimitXLower(float limit);

    float linearLimitXUpper() const;

    void setLinearLimitXUpper(float limit);

    float linearLimitYLower() const;

    void setLinearLimitYLower(float limit);

    float linearLimitYUpper() const;

    void setLinearLimitYUpper(float limit);

    float linearLimitZLower() const;

    void setLinearLimitZLower(float limit);

    float linearLimitZUpper() const;

    void setLinearLimitZUpper(float limit);

    float twistLimitLower() const;

    void setTwistLimitLower(float limit);

    float twistLimitUpper() const;

    void setTwistLimitUpper(float limit);

    float linearStiffness() const;

    void setLinearStiffness(float stiffness);

    float linearDamping() const;

    void setLinearDamping(float damping);

    float angularStiffness() const;

    void setAngularStiffness(float stiffness);

    float angularDamping() const;

    void setAngularDamping(float damping);

    Motion swingMotionY() const;

    void setSwingMotionY(Motion newSwingMotionY);

    Motion swingMotionZ() const;

    void setSwingMotionZ(Motion newSwingMotionZ);

    float swingLimitAngleY() const;

    void setSwingLimitAngleY(float newSwingLimitAngleY);

    float swingLimitAngleZ() const;

    void setSwingLimitAngleZ(float newSwingLimitAngleZ);

signals:

    void xMotionChanged();

    void yMotionChanged();

    void zMotionChanged();

    void twistMotionChanged();

    void linearLimitXLowerChanged();

    void linearLimitXUpperChanged();

    void linearLimitYLowerChanged();

    void linearLimitYUpperChanged();

    void linearLimitZLowerChanged();

    void linearLimitZUpperChanged();

    void twistLimitLowerChanged();

    void twistLimitUpperChanged();

    void linearStiffnessChanged();

    void linearDampingChanged();

    void angularStiffnessChanged();

    void angularDampingChanged();

    void swingMotionYChanged();

    void swingMotionZChanged();

    void swingLimitAngleYChanged();

    void swingLimitAngleZChanged();

protected:

    physx::PxJoint *createPhysxJoint(physx::PxRigidActor *actorA,

                                     physx::PxRigidActor *actorB,

                                     const physx::PxTransform &trfA,

                                     const physx::PxTransform &trfB) override;

    void setJointProperties() override;

private:

    Motion m_xMotion = Motion::Locked;

    Motion m_yMotion = Motion::Locked;

    Motion m_zMotion = Motion::Locked;

    Motion m_twistMotion = Motion::Locked;

    Motion m_swingMotionY = Motion::Locked;

    Motion m_swingMotionZ = Motion::Locked;

    // Linear limits

    float m_linearLimitXLower = -1.0f;

    float m_linearLimitXUpper = 1.0f;

    float m_linearLimitYLower = -1.0f;

    float m_linearLimitYUpper = 1.0f;

    float m_linearLimitZLower = -1.0f;

    float m_linearLimitZUpper = 1.0f;

    // Angular limits (Twist: [-45 deg, 45 deg], Swing: 45 deg in radians)

    float m_twistLimitLower = -float(M_PI_4);

    float m_twistLimitUpper = float(M_PI_4);

    float m_swingLimitAngleY = float(M_PI_4);

    float m_swingLimitAngleZ = float(M_PI_4);

    // Spring & Damping (0.0f means hard limits by default)

    float m_linearStiffness = 0.0f;

    float m_linearDamping = 0.0f;

    float m_angularStiffness = 0.0f;

    float m_angularDamping = 0.0f;

};

QT_END_NAMESPACE

#endif // QD6JOINT_P_H