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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_RACK_AND_PINION_JOINT_H
#define PX_RACK_AND_PINION_JOINT_H
#include "extensions/PxJoint.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxRackAndPinionJoint;
/**
\brief Create a rack & pinion 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 PxRackAndPinionJoint
*/
PxRackAndPinionJoint* PxRackAndPinionJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief A joint that connects an existing revolute joint to an existing prismatic joint,
and constrains their relative angular/linear velocity and position with respect to each other.
\see PxRackAndPinionJointCreate PxJoint
*/
class PxRackAndPinionJoint : public PxJoint
{
public:
/**
\brief Set the hinge & prismatic joints connected by the rack & pinion joint.
The passed hinge joint can be either PxRevoluteJoint, PxD6Joint or PxArticulationJointReducedCoordinate.
The passed prismatic joint can be either PxPrismaticJoint or PxD6Joint.
Note that these joints are only used to compute the positional error correction term,
used to adjust potential drift between jointed actors. The rack & pinion joint can run without
calling this function, but in that case some visible overlap may develop over time between
the teeth of the rack & pinion meshes.
\note Calling this function resets the internal positional error correction term.
\param[in] hinge The hinge joint (pinion)
\param[in] prismatic The prismatic joint (rack)
\return true if success
*/
virtual bool setJoints(const PxBase* hinge, const PxBase* prismatic) = 0;
/**
\brief Get the hinge & prismatic joints connected by the rack & pinion joint.
\param[out] hinge The hinge joint (pinion)
\param[out] prismatic The prismatic joint (rack)
*/
virtual void getJoints(const PxBase*& hinge, const PxBase*& prismatic) const = 0;
/**
\brief Set the desired ratio directly.
\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 hinge and the prismatic.
*/
virtual void setRatio(float ratio) = 0;
/**
\brief Get the ratio.
\return Current ratio
*/
virtual float getRatio() const = 0;
/**
\brief Set the desired ratio indirectly.
This is a simple helper function that computes the ratio from passed data:
ratio = (PI*2*nbRackTeeth)/(rackLength*nbPinionTeeth)
\note Calling this function resets the internal positional error correction term.
\param[in] nbRackTeeth Number of teeth on the rack (cannot be zero)
\param[in] nbPinionTeeth Number of teeth on the pinion (cannot be zero)
\param[in] rackLength Length of the rack
\return true if success
*/
virtual bool setData(PxU32 nbRackTeeth, PxU32 nbPinionTeeth, float rackLength) = 0;
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxRackAndPinionJoint"; }
protected:
PX_INLINE PxRackAndPinionJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
PX_INLINE PxRackAndPinionJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxRackAndPinionJoint", PxJoint); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif