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 DY_ARTICULATION_CORE_H
++ #define DY_ARTICULATION_CORE_H
++
++ #include "PxArticulationReducedCoordinate.h"
++
++ namespace physx
++ {
++ namespace Dy
++ {
++ struct ArticulationCore
++ {
++ // PX_SERIALIZATION
++ ArticulationCore(const PxEMPTY) : flags(PxEmpty) {}
++ ArticulationCore() {}
++ //~PX_SERIALIZATION
++
++ PxU16 solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
++ PxArticulationFlags flags;
++ PxReal sleepThreshold;
++ PxReal freezeThreshold;
++ PxReal wakeCounter;
++ PxU32 gpuRemapIndex;
++ };
++ }
++ }
++
++ #endif
++