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- // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef DY_V_ARTICULATION_H
#define DY_V_ARTICULATION_H
#include "DyArticulationJointCore.h"
namespace physx
{
struct PxsBodyCore;
namespace Dy
{
struct Constraint;
typedef PxU64 ArticulationBitField;
struct ArticulationLoopConstraint
{
public:
PxU32 linkIndex0;
PxU32 linkIndex1;
Dy::Constraint* constraint;
};
#define DY_ARTICULATION_LINK_NONE 0xffffffff
struct ArticulationLink
{
PxU32 mPathToRootStartIndex;
PxU32 mChildrenStartIndex;
PxU16 mPathToRootCount;
PxU16 mNumChildren;
PxsBodyCore* bodyCore;
ArticulationJointCore* inboundJoint;
PxU32 parent;
PxReal cfm;
PX_FORCE_INLINE void initBody(PxsBodyCore* core)
{
bodyCore = core;
mPathToRootStartIndex = 0;
mPathToRootCount = 0;
mChildrenStartIndex = 0xffffffff;
mNumChildren = 0;
}
PX_FORCE_INLINE void initJoint(ArticulationJointCore* core, PxU32 parentIndex)
{
inboundJoint = core;
parent = parentIndex;
}
};
}
}
#endif