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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 EXT_RACK_AND_PINION_JOINT_H
#define EXT_RACK_AND_PINION_JOINT_H
#include "extensions/PxRackAndPinionJoint.h"
#include "ExtJoint.h"
#include "CmUtils.h"
namespace physx
{
struct PxRackAndPinionJointGeneratedValues;
namespace Ext
{
struct RackAndPinionJointData : public JointData
{
const PxBase* hingeJoint;
const PxBase* prismaticJoint;
float ratio;
float px;
float vangle;
};
typedef JointT<PxRackAndPinionJoint, RackAndPinionJointData, PxRackAndPinionJointGeneratedValues> RackAndPinionJointT;
class RackAndPinionJoint : public RackAndPinionJointT
{
public:
// PX_SERIALIZATION
RackAndPinionJoint(PxBaseFlags baseFlags) : RackAndPinionJointT(baseFlags) {}
void resolveReferences(PxDeserializationContext& context);
static RackAndPinionJoint* createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<RackAndPinionJoint>(address, context); }
//~PX_SERIALIZATION
RackAndPinionJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
// PxRackAndPinionJoint
virtual bool setJoints(const PxBase* hinge, const PxBase* prismatic) PX_OVERRIDE;
virtual void getJoints(const PxBase*& hinge, const PxBase*& prismatic) const PX_OVERRIDE;
virtual void setRatio(float ratio) PX_OVERRIDE;
virtual float getRatio() const PX_OVERRIDE;
virtual bool setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength) PX_OVERRIDE;
//~PxRackAndPinionJoint
// PxConstraintConnector
virtual void* prepareData() PX_OVERRIDE
{
updateError();
return mData;
}
virtual PxConstraintSolverPrep getPrep() const PX_OVERRIDE;
//~PxConstraintConnector
private:
float mVirtualAngle0;
float mPersistentAngle0;
bool mInitDone;
void updateError();
void resetError();
};
} // namespace Ext
}
#endif