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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 SC_ARTICULATION_JOINT_CORE_H
#define SC_ARTICULATION_JOINT_CORE_H
#include "foundation/PxTransform.h"
#include "DyVArticulation.h"
namespace physx
{
namespace Sc
{
class BodyCore;
class ArticulationJointSim;
class ArticulationCore;
class ArticulationJointDesc
{
public:
BodyCore* parent;
BodyCore* child;
PxTransform parentPose;
PxTransform childPose;
};
class ArticulationJointCore
{
public:
// PX_SERIALIZATION
ArticulationJointCore(const PxEMPTY) : mCore(PxEmpty), mSim(NULL) {}
void preExportDataReset() { mCore.jCalcUpdateFrames = true; }
//~PX_SERIALIZATION
ArticulationJointCore(const PxTransform& parentFrame, const PxTransform& childFrame);
~ArticulationJointCore();
//Those methods are not allowed while the articulation are in the scene
PX_FORCE_INLINE const PxTransform& getParentPose() const { return mCore.parentPose; }
void setParentPose(const PxTransform&);
PX_FORCE_INLINE const PxTransform& getChildPose() const { return mCore.childPose; }
void setChildPose(const PxTransform&);
//Those functions doesn't change the articulation configuration so the application is allowed to change those value in run-time
PX_FORCE_INLINE PxArticulationLimit getLimit(PxArticulationAxis::Enum axis) const { return mCore.limits[axis]; }
void setLimit(PxArticulationAxis::Enum axis, const PxArticulationLimit& limit);
PX_FORCE_INLINE PxArticulationDrive getDrive(PxArticulationAxis::Enum axis) const { return mCore.drives[axis]; }
void setDrive(PxArticulationAxis::Enum axis, const PxArticulationDrive& drive);
void setTargetP(PxArticulationAxis::Enum axis, PxReal targetP);
PX_FORCE_INLINE PxReal getTargetP(PxArticulationAxis::Enum axis) const { return mCore.targetP[axis]; }
void setTargetV(PxArticulationAxis::Enum axis, PxReal targetV);
PX_FORCE_INLINE PxReal getTargetV(PxArticulationAxis::Enum axis) const { return mCore.targetV[axis]; }
void setArmature(PxArticulationAxis::Enum axis, PxReal armature);
PX_FORCE_INLINE PxReal getArmature(PxArticulationAxis::Enum axis) const { return mCore.armature[axis]; }
void setJointPosition(PxArticulationAxis::Enum axis, const PxReal jointPos);
PxReal getJointPosition(PxArticulationAxis::Enum axis) const;
void setJointVelocity(PxArticulationAxis::Enum axis, const PxReal jointVel);
PxReal getJointVelocity(PxArticulationAxis::Enum axis) const;
void setMaxJointVelocity(PxReal maxJointV);
PX_FORCE_INLINE PxReal getMaxJointVelocity() const { return mCore.maxJointVelocity[0]; }
void setMaxJointVelocity(PxArticulationAxis::Enum axis, PxReal maxJointV);
PX_FORCE_INLINE PxReal getMaxJointVelocity(PxArticulationAxis::Enum axis) const { return mCore.maxJointVelocity[axis]; }
PX_FORCE_INLINE void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion) { mCore.motion[axis] = PxU8(motion); }
PX_FORCE_INLINE PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const { return PxArticulationMotion::Enum(mCore.motion[axis]); }
PX_FORCE_INLINE void setJointType(PxArticulationJointType::Enum type) { mCore.setJointType(type); }
PX_FORCE_INLINE PxArticulationJointType::Enum getJointType() const { return PxArticulationJointType::Enum(mCore.jointType); }
void setFrictionCoefficient(const PxReal coefficient);
PX_FORCE_INLINE PxReal getFrictionCoefficient() const { return mCore.frictionCoefficient; }
void setFrictionParams(PxArticulationAxis::Enum axis, const PxJointFrictionParams& jointFrictionParams);
PX_FORCE_INLINE PxJointFrictionParams getFrictionParams(PxArticulationAxis::Enum axis) const { return mCore.frictionParams[axis]; }
PX_FORCE_INLINE ArticulationJointSim* getSim() const { return mSim; }
PX_FORCE_INLINE void setSim(ArticulationJointSim* sim)
{
PX_ASSERT((sim==0) ^ (mSim == 0));
mSim = sim;
}
PX_FORCE_INLINE Dy::ArticulationJointCore& getCore() { return mCore; }
PX_FORCE_INLINE void setArticulation(ArticulationCore* articulation) { mArticulation = articulation; }
PX_FORCE_INLINE const ArticulationCore* getArticulation() const { return mArticulation; }
PX_FORCE_INLINE void setRoot(PxArticulationJointReducedCoordinate* base) { mRootType = base; }
PX_FORCE_INLINE PxArticulationJointReducedCoordinate* getRoot() const { return mRootType; }
PX_FORCE_INLINE void setLLIndex(const PxU32 llLinkIndex) { mLLLinkIndex = llLinkIndex; }
private:
void setSimDirty();
PX_FORCE_INLINE void setDirty()
{
mCore.jCalcUpdateFrames = true;
setSimDirty();
}
Dy::ArticulationJointCore mCore;
ArticulationJointSim* mSim;
ArticulationCore* mArticulation;
PxArticulationJointReducedCoordinate* mRootType;
PxU32 mLLLinkIndex;
#if PX_P64_FAMILY
PxU32 pad;
#endif
};
} // namespace Sc
}
#endif