67 lines
2.5 KiB
67 lines
2.5 KiB
/****************************************************************************
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Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.
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http://www.cocos.com
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#pragma once
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#include "physics/physx/joints/PhysXJoint.h"
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namespace cc {
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namespace physics {
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class PhysXRevolute final : public PhysXJoint, public IRevoluteJoint {
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public:
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PhysXRevolute() : _mPivotA(physx::PxZero),
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_mPivotB(physx::PxZero),
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_mAxis(physx::PxZero) {}
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~PhysXRevolute() override = default;
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void setPivotA(float x, float y, float z) override;
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void setPivotB(float x, float y, float z) override;
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void setAxis(float x, float y, float z) override;
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void setLimitEnabled(bool v) override;
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void setLowerLimit(float v) override;
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void setUpperLimit(float v) override;
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void setMotorEnabled(bool v) override;
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void setMotorVelocity(float v) override;
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void setMotorForceLimit(float v) override;
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void updateScale0() override;
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void updateScale1() override;
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private:
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void onComponentSet() override;
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void updatePose();
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physx::PxVec3 _mPivotA;
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physx::PxVec3 _mPivotB;
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physx::PxVec3 _mAxis;
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physx::PxJointAngularLimitPair _mlimit{0, 0};
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bool _limitEnabled{false};
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float _lowerLimit{0.0F};
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float _upperLimit{0.0F};
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bool _motorEnabled{false};
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float _motorVelocity{0.0F};
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float _motorForceLimit{0.0F};
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};
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} // namespace physics
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} // namespace cc
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