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// 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