Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_ARTICULATION_FLAG_H
++ #define PX_ARTICULATION_FLAG_H
++
++ #include "PxPhysXConfig.h"
++ #include "foundation/PxFlags.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief These flags determine what data is read or written to the internal articulation data via cache.
++
++ \see PxArticulationCache PxArticulationReducedCoordinate::copyInternalStateToCache PxArticulationReducedCoordinate::applyCache
++ */
++ class PxArticulationCacheFlag
++ {
++ public:
++ enum Enum
++ {
++ eVELOCITY = (1 << 0), //!< The joint velocities, see PxArticulationCache::jointVelocity.
++ eACCELERATION = (1 << 1), //!< The joint accelerations, see PxArticulationCache::jointAcceleration.
++ ePOSITION = (1 << 2), //!< The joint positions, see PxArticulationCache::jointPosition.
++ eFORCE = (1 << 3), //!< The joint forces, see PxArticulationCache::jointForce.
++ eLINK_VELOCITY = (1 << 4), //!< The link velocities, see PxArticulationCache::linkVelocity. Link velocities cannot be set except for the root link velocity via PxArticulationCache::rootLinkData.
++ eLINK_ACCELERATION = (1 << 5), //!< The link accelerations, see PxArticulationCache::linkAcceleration.
++ eROOT_TRANSFORM = (1 << 6), //!< The root link transform, see PxArticulationCache::rootLinkData.
++ eROOT_VELOCITIES = (1 << 7), //!< The root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
++ eLINK_INCOMING_JOINT_FORCE = (1 << 10), //!< The link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
++ eJOINT_TARGET_POSITIONS = (1 << 11), //!< The joint target positions, see PxArticulationCache::jointTargetPositions.
++ eJOINT_TARGET_VELOCITIES = (1 << 12), //!< The joint target velocities, see PxArticulationCache::jointTargetVelocities.
++ eLINK_FORCE = (1 << 13), //!< The link forces, see PxArticulationCache::linkForce.
++ eLINK_TORQUE = (1 << 14), //!< The link torques, see PxArticulationCache::linkTorque.
++ eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
++ };
++ };
++
++ typedef PxFlags<PxArticulationCacheFlag::Enum, PxU32> PxArticulationCacheFlags;
++ PX_FLAGS_OPERATORS(PxArticulationCacheFlag::Enum, PxU32)
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif