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_TENDON_DATA_H
++ #define PX_ARTICULATION_TENDON_DATA_H
++
++ #include "foundation/PxSimpleTypes.h"
++ #include "foundation/PxVec3.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief PxGpuSpatialTendonData
++
++ This data structure is to be used by the direct GPU API for spatial tendon data updates.
++
++ \see PxArticulationSpatialTendon PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
++ */
++ PX_ALIGN_PREFIX(16)
++ class PxGpuSpatialTendonData
++ {
++ public:
++ PxReal stiffness;
++ PxReal damping;
++ PxReal limitStiffness;
++ PxReal offset;
++ }
++ PX_ALIGN_SUFFIX(16);
++
++ /**
++ \brief PxGpuFixedTendonData
++
++ This data structure is to be used by the direct GPU API for fixed tendon data updates.
++
++ \see PxArticulationFixedTendon PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
++ */
++ PX_ALIGN_PREFIX(16)
++ class PxGpuFixedTendonData : public PxGpuSpatialTendonData
++ {
++ public:
++ PxReal lowLimit;
++ PxReal highLimit;
++ PxReal restLength;
++ PxReal padding;
++ }
++ PX_ALIGN_SUFFIX(16);
++
++ /**
++ \brief PxGpuTendonJointCoefficientData
++
++ This data structure is to be used by the direct GPU API for fixed tendon joint data updates.
++
++ \see PxArticulationTendonJoint PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
++ */
++ PX_ALIGN_PREFIX(16)
++ class PxGpuTendonJointCoefficientData
++ {
++ public:
++ PxReal coefficient;
++ PxReal recipCoefficient;
++ PxU32 axis;
++ PxU32 pad;
++ }
++ PX_ALIGN_SUFFIX(16);
++
++ /**
++ \brief PxGpuTendonAttachmentData
++
++ This data structure is to be used by the direct GPU API for spatial tendon attachment data updates.
++
++ \see PxArticulationAttachment PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
++ */
++ PX_ALIGN_PREFIX(16)
++ class PxGpuTendonAttachmentData
++ {
++ public:
++ PxVec3 relativeOffset;
++ PxReal restLength;
++
++ PxReal coefficient;
++ PxReal lowLimit;
++ PxReal highLimit;
++ PxReal padding;
++ }
++ PX_ALIGN_SUFFIX(16);
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif