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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
#include "PxArticulationReducedCoordinate.h"
#include "PxArticulationMimicJoint.h"
#include "foundation/PxUserAllocated.h"
#include "foundation/PxMemory.h"
#include "ScArticulationMimicJointCore.h"
#include "NpBase.h"
#ifndef NP_ARTICULATION_MIMIC_JOINT_H
#define NP_ARTICULATION_MIMIC_JOINT_H
namespace physx
{
typedef PxU32 ArticulationMimicJointHandle;
class NpArticulationMimicJoint : public PxArticulationMimicJoint, public NpBase
{
public:
// PX_SERIALIZATION
NpArticulationMimicJoint(PxBaseFlags baseFlags)
: PxArticulationMimicJoint(baseFlags), NpBase(PxEmpty), mCore(PxEmpty) {}
void preExportDataReset() {}
virtual void exportExtraData(PxSerializationContext& ) {}
void importExtraData(PxDeserializationContext& ) {}
void resolveReferences(PxDeserializationContext& );
virtual void requiresObjects(PxProcessPxBaseCallback&) {}
virtual bool isSubordinate() const { return true; }
static NpArticulationMimicJoint* createObject(PxU8*& address, PxDeserializationContext& context);
//~PX_SERIALIZATION
NpArticulationMimicJoint(
const PxArticulationJointReducedCoordinate& jointA, PxArticulationAxis::Enum axisA,
const PxArticulationJointReducedCoordinate& jointB, PxArticulationAxis::Enum axisB,
PxReal gearRatio, PxReal offset,
PxReal naturalFrequency, PxReal dampingRatio);
virtual ~NpArticulationMimicJoint() {}
// PxBase
virtual void release() PX_OVERRIDE PX_FINAL;
//~PxBase
// PxArticulationMimicJoint
virtual PxArticulationReducedCoordinate& getArticulation() const PX_OVERRIDE PX_FINAL;
virtual PxReal getGearRatio() const PX_OVERRIDE PX_FINAL;
virtual void setGearRatio(PxReal gearRatio) PX_OVERRIDE PX_FINAL;
virtual PxReal getOffset() const PX_OVERRIDE PX_FINAL;
virtual void setOffset(PxReal offset) PX_OVERRIDE PX_FINAL;
virtual PxReal getNaturalFrequency() const PX_OVERRIDE PX_FINAL;
virtual void setNaturalFrequency(PxReal naturalFrequency) PX_OVERRIDE PX_FINAL;
virtual PxReal getDampingRatio() const PX_OVERRIDE PX_FINAL;
virtual void setDampingRatio(PxReal dampingRatio) PX_OVERRIDE PX_FINAL;
virtual PxArticulationJointReducedCoordinate& getJointA() const PX_OVERRIDE PX_FINAL;
virtual PxArticulationJointReducedCoordinate& getJointB() const PX_OVERRIDE PX_FINAL;
virtual PxArticulationAxis::Enum getAxisA() const PX_OVERRIDE PX_FINAL;
virtual PxArticulationAxis::Enum getAxisB() const PX_OVERRIDE PX_FINAL;
//~PxArticulationMimicJoint
PX_FORCE_INLINE void setHandle(ArticulationMimicJointHandle handle) { mHandle = handle; }
PX_FORCE_INLINE Sc::ArticulationMimicJointCore& getMimicJointCore() {return mCore;}
PxArticulationLink* getLinkA() {return mLinkA;}
PxArticulationLink* getLinkB() {return mLinkB;}
private:
PxArticulationLink* mLinkA;
PxArticulationLink* mLinkB;
Sc::ArticulationMimicJointCore mCore;
//mHandle is the index into the array of mimic joints owned by NpArticulationReducedCoordinate.
//Releasing a mimic joint will lead to the last mimic joint filling the array entry of the released
//mimic joint. The handle of the last mimic joint will be updated accordingly.
ArticulationMimicJointHandle mHandle;
};
}
#endif //NP_ARTICULATION_MIMIC_JOINT_H