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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_REVOLUTE_JOINT_H
#define PX_REVOLUTE_JOINT_H
#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxRevoluteJoint;
/**
\brief Create a revolute 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 PxRevoluteJoint
*/
PxRevoluteJoint* PxRevoluteJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
/**
\brief Flags specific to the Revolute Joint.
\see PxRevoluteJoint
*/
struct PxRevoluteJointFlag
{
enum Enum
{
eLIMIT_ENABLED = 1<<0, //!< enable the limit
eDRIVE_ENABLED = 1<<1, //!< enable the drive
eDRIVE_FREESPIN = 1<<2 //!< if the existing velocity is beyond the drive velocity, do not add force
};
};
typedef PxFlags<PxRevoluteJointFlag::Enum, PxU16> PxRevoluteJointFlags;
PX_FLAGS_OPERATORS(PxRevoluteJointFlag::Enum, PxU16)
/**
\brief A joint which behaves in a similar way to a hinge or axle.
A hinge joint removes all but a single rotational degree of freedom from two objects.
The axis along which the two bodies may rotate is specified with a point and a direction
vector.
The position of the hinge on each body is specified by the origin of the body's joint frame.
The axis of the hinge is specified as the direction of the x-axis in the body's joint frame.
\image html revoluteJoint.png
A revolute joint can be given a motor, so that it can apply a force to rotate the attached actors.
It may also be given a limit, to restrict the revolute motion to within a certain range.
Drive and limits are activated by setting the appropriate flags on the joint.
\see PxRevoluteJointCreate() PxJoint
*/
class PxRevoluteJoint : public PxJoint
{
public:
/**
\brief return the angle of the joint, in the range (-2*Pi, 2*Pi]
*/
virtual PxReal getAngle() const = 0;
/**
\brief return the velocity of the joint
*/
virtual PxReal getVelocity() const = 0;
/**
\brief set the joint limit parameters.
The limit is activated using the flag PxRevoluteJointFlag::eLIMIT_ENABLED
The limit angle range is (-2*Pi, 2*Pi).
\param[in] limits The joint limit parameters.
\see PxJointAngularLimitPair getLimit()
*/
virtual void setLimit(const PxJointAngularLimitPair& limits) = 0;
/**
\brief get the joint limit parameters.
\return the joint limit parameters
\see PxJointAngularLimitPair setLimit()
*/
virtual PxJointAngularLimitPair getLimit() const = 0;
/**
\brief set the target velocity for the drive model.
The motor will only be able to reach this velocity if the maxForce is sufficiently large.
If the joint is spinning faster than this velocity, the motor will actually try to brake
(see PxRevoluteJointFlag::eDRIVE_FREESPIN.)
The sign of this variable determines the rotation direction, with positive values going
the same way as positive joint angles. Setting a very large target velocity may cause
undesirable results.
\param[in] velocity the drive target velocity
\param[in] autowake Whether to wake up the joint rigids if they are asleep.
<b>Range:</b> (-PX_MAX_F32, PX_MAX_F32)<br>
<b>Default:</b> 0.0
\see PxRevoluteFlags::eDRIVE_FREESPIN
*/
virtual void setDriveVelocity(PxReal velocity, bool autowake = true) = 0;
/**
\brief gets the target velocity for the drive model.
\return the drive target velocity
\see setDriveVelocity()
*/
virtual PxReal getDriveVelocity() const = 0;
/**
\brief sets the maximum torque the drive can exert.
The value set here may be used either as an impulse limit or a force limit, depending on the flag PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> PX_MAX_F32
\see setDriveVelocity()
*/
virtual void setDriveForceLimit(PxReal limit) = 0;
/**
\brief gets the maximum torque the drive can exert.
\return the torque limit
\see setDriveVelocity()
*/
virtual PxReal getDriveForceLimit() const = 0;
/**
\brief sets the gear ratio for the drive.
When setting up the drive constraint, the velocity of the first actor is scaled by this value, and its response to drive torque is scaled down.
So if the drive target velocity is zero, the second actor will be driven to the velocity of the first scaled by the gear ratio
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 1.0
\param[in] ratio the drive gear ratio
\see getDriveGearRatio()
*/
virtual void setDriveGearRatio(PxReal ratio) = 0;
/**
\brief gets the gear ratio.
\return the drive gear ratio
\see setDriveGearRatio()
*/
virtual PxReal getDriveGearRatio() const = 0;
/**
\brief sets the flags specific to the Revolute Joint.
<b>Default</b> PxRevoluteJointFlags(0)
\param[in] flags The joint flags.
\see PxRevoluteJointFlag setFlag() getFlags()
*/
virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) = 0;
/**
\brief sets a single flag specific to a Revolute Joint.
\param[in] flag The flag to set or clear.
\param[in] value the value to which to set the flag
\see PxRevoluteJointFlag, getFlags() setFlags()
*/
virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) = 0;
/**
\brief gets the flags specific to the Revolute Joint.
\return the joint flags
\see PxRevoluteJoint::flags, PxRevoluteJointFlag setFlag() setFlags()
*/
virtual PxRevoluteJointFlags getRevoluteJointFlags() const = 0;
/**
\brief Returns string name of PxRevoluteJoint, used for serialization
*/
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxRevoluteJoint"; }
protected:
//serialization
/**
\brief Constructor
*/
PX_INLINE PxRevoluteJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
/**
\brief Deserialization constructor
*/
PX_INLINE PxRevoluteJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags) {}
/**
\brief Returns whether a given type name matches with the type of this instance
*/
virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxRevoluteJoint", PxJoint); }
//~serialization
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif