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+ // 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.
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+ // SPDX-License-Identifier: Apache-2.0
#ifndef SC_ARTICULATION_MIMIC_JOINT_SIM_H
#define SC_ARTICULATION_MIMIC_JOINT_SIM_H
#include "foundation/PxUserAllocated.h"
#include "PxArticulationReducedCoordinate.h"
#include "DyFeatherstoneArticulation.h"
#include "DyArticulationMimicJointCore.h"
namespace physx
{
namespace Sc
{
class Scene;
class ArticulationMimicJointCore;
class ArticulationCore;
class ArticulationSim;
class ArticulationMimicJointSim : public PxUserAllocated
{
PX_NOCOPY(ArticulationMimicJointSim)
public:
ArticulationMimicJointSim(Sc::ArticulationMimicJointCore& core, Sc::Scene& scene);
~ArticulationMimicJointSim();
PX_FORCE_INLINE Sc::Scene& getScene() { return mScene; }
PX_FORCE_INLINE const Sc::Scene& getScene() const { return mScene; }
PX_FORCE_INLINE void setLowLevelIndex(const PxU32 llIndex) { mLLIndex = llIndex;}
PX_FORCE_INLINE PxU32 getLowLevelIndex() const { return mLLIndex; }
PX_FORCE_INLINE Sc::ArticulationMimicJointCore& getCore() { return mCore; }
PX_FORCE_INLINE const Sc::ArticulationMimicJointCore& getCore() const { return mCore; }
PX_FORCE_INLINE Dy::ArticulationMimicJointCore& getLLMimicJoint() { return mLLMimicJoint; }
void setGearRatio(const PxReal gearRatio);
void setOffset(const PxReal offset);
void setNaturalFrequency(const PxReal naturalFrequency);
void setDampingRatio(const PxReal dampingRatio);
Sc::Scene& mScene;
Sc::ArticulationMimicJointCore& mCore;
Sc::ArticulationSim* mArticulationSim;
Dy::ArticulationMimicJointCore mLLMimicJoint;
PxU32 mLLIndex;
};
}
}
#endif //SC_ARTICULATION_MIMIC_JOINT_SIM_H