1 files changed, 83 insertions, 0 deletions
diff --git a/Runtime/Dynamics/CharacterJoint.h b/Runtime/Dynamics/CharacterJoint.h
new file mode 100644
index 0000000..ce94155
--- /dev/null
+++ b/Runtime/Dynamics/CharacterJoint.h
@@ -0,0 +1,83 @@
+#ifndef CHARACTERJOINT_H
+#define CHARACTERJOINT_H
+
+#include "Runtime/BaseClasses/GameObject.h"
+#include "Runtime/Math/Vector3.h"
+#include "Runtime/Math/Quaternion.h"
+#include "JointDescriptions.h"
+#include "Joint.h"
+class Rigidbody;
+class NxJointDesc;
+class NxRevoluteJoint;
+
+namespace Unity
+{
+
+class CharacterJoint : public Joint
+{
+	public:
+	
+	REGISTER_DERIVED_CLASS (CharacterJoint, Joint)
+	DECLARE_OBJECT_SERIALIZE (CharacterJoint)
+
+	CharacterJoint (MemLabelId label, ObjectCreationMode mode);
+	
+	JointDrive GetRotationDrive ();
+	void SetRotationDrive (const JointDrive& drive);
+
+	void SetTargetRotation (const Quaternionf& rot); 
+	Quaternionf GetTargetRotation (); 
+
+	void SetTargetAngularVelocity (const Vector3f& angular); 
+	Vector3f GetTargetAngularVelocity ();
+
+	virtual void ApplySetupAxesToDesc (int option);
+
+	virtual void SetSwingAxis (const Vector3f& axis);
+	Vector3f GetSwingAxis () { return m_SwingAxis; }
+	
+	void SetLowTwistLimit (const SoftJointLimit& limit);
+	SoftJointLimit GetLowTwistLimit () { return m_LowTwistLimit; }
+
+	void SetHighTwistLimit (const SoftJointLimit& limit);
+	SoftJointLimit GetHighTwistLimit () { return m_HighTwistLimit; }
+
+	void SetSwing1Limit (const SoftJointLimit& limit);
+	SoftJointLimit GetSwing1Limit () { return m_Swing1Limit; }
+
+	void SetSwing2Limit (const SoftJointLimit& limit);
+	SoftJointLimit GetSwing2Limit () { return m_Swing2Limit; }
+	
+	virtual void Reset();
+
+	void UpdateTargetRotation ();
+	virtual void CheckConsistency ();
+	
+	////// THIS IS NOT GOOD!!!!!!!!!!!
+	void CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const;
+
+	private:
+
+	virtual void Create ();
+	void SetupDriveType ();
+
+	bool           m_UseTargetRotation;
+	Quaternionf    m_TargetRotation;
+	Vector3f       m_TargetAngularVelocity;
+	
+	mutable Quaternionf    m_ConfigurationSpace;
+	
+	////// THIS IS NOT GOOD!!!!!!!!!!!
+	Vector3f       m_SwingAxis;
+	
+	JointDrive     m_RotationDrive;
+	
+	SoftJointLimit m_LowTwistLimit;
+	SoftJointLimit m_HighTwistLimit;
+	SoftJointLimit m_Swing1Limit;
+	SoftJointLimit m_Swing2Limit;
+};
+
+}
+
+#endif