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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 PX_GEAR_JOINT_H
#define PX_GEAR_JOINT_H
#include "extensions/PxJoint.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxGearJoint;
/**
\brief Create a gear 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 PxGearJoint
*/
PxGearJoint* PxGearJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief A joint that connects two existing revolute joints and constrains their relative angular velocity with respect to each other.
\see PxGearJointCreate PxJoint
*/
class PxGearJoint : public PxJoint
{
public:
/**
\brief Set the hinge/revolute joints connected by the gear joint.
The passed joints can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate.
The joints must define degrees of freedom around the twist axis.
Note that these joints are only used to compute the positional error correction term,
used to adjust potential drift between jointed actors. The gear joint can run without
calling this function, but in that case some visible overlap may develop over time between
the teeth of the gear meshes.
\note Calling this function resets the internal positional error correction term.
\param[in] hinge0 The first hinge joint
\param[in] hinge1 The second hinge joint
\return true if success
*/
virtual bool setHinges(const PxBase* hinge0, const PxBase* hinge1) = 0;
/**
\brief Get the hinge/revolute joints connected by the gear joint.
\param[out] hinge0 The first hinge joint
\param[out] hinge1 The second hinge joint
*/
virtual void getHinges(const PxBase*& hinge0, const PxBase*& hinge1) const = 0;
/**
\brief Set the desired gear ratio.
For two gears with n0 and n1 teeth respectively, the gear ratio is n0/n1.
\note You may need to use a negative gear ratio if the joint frames of involved actors are not oriented in the same direction.
\note Calling this function resets the internal positional error correction term.
\param[in] ratio Desired ratio between the two hinges.
*/
virtual void setGearRatio(float ratio) = 0;
/**
\brief Get the gear ratio.
\return Current ratio
*/
virtual float getGearRatio() const = 0;
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxGearJoint"; }
protected:
PX_INLINE PxGearJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
PX_INLINE PxGearJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxGearJoint", PxJoint); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif