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 PXD_ARTICULATION_TENDON_H
++ #define PXD_ARTICULATION_TENDON_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxQuat.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxVecMath.h"
++ #include "foundation/PxUtilities.h"
++ #include "CmUtils.h"
++ #include "CmIDPool.h"
++ #include "solver/PxSolverDefs.h"
++
++ namespace physx
++ {
++ namespace Dy
++ {
++
++ typedef PxU64 ArticulationAttachmentBitField;
++
++ #define DY_ARTICULATION_ATTACHMENT_NONE 0xffffffff
++
++ struct ArticulationAttachment
++ {
++ PxVec3 relativeOffset; //relative offset to the link
++ PxReal lowLimit;
++ PxReal highLimit;
++ PxReal restLength;
++
++ PxReal coefficient;
++ PxU32 parent; //parent index
++ PxU32 myInd;
++ PxU32 mConstraintInd;
++ PxU16 linkInd;
++ PxU16 childCount;
++
++ ArticulationAttachmentBitField children;
++ };
++
++ class ArticulationTendon
++ {
++ public:
++
++ ArticulationTendon() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)
++ {
++ }
++ PxReal mStiffness;
++ PxReal mDamping;
++ PxReal mOffset;
++ PxReal mLimitStiffness;
++ };
++
++ class ArticulationSpatialTendon : public ArticulationTendon
++ {
++ public:
++
++ ArticulationSpatialTendon()
++ {
++ mAttachments.reserve(64);
++ mAttachments.forceSize_Unsafe(64);
++
++ }
++
++ PX_FORCE_INLINE ArticulationAttachment* getAttachments() { return mAttachments.begin(); }
++
++ PX_FORCE_INLINE ArticulationAttachment& getAttachment(const PxU32 index) { return mAttachments[index]; }
++
++ PX_FORCE_INLINE PxU32 getNumAttachments() { return mIDPool.getNumUsedID(); }
++
++ PX_FORCE_INLINE PxU32 getNewID()
++ {
++ const PxU32 index = mIDPool.getNewID();
++ if (mAttachments.capacity() <= index)
++ {
++ mAttachments.resize(index * 2 + 1);
++ }
++ return index;
++ }
++
++ PX_FORCE_INLINE void freeID(const PxU32 index)
++ {
++ mIDPool.freeID(index);
++ }
++
++ PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
++
++ PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
++
++ private:
++
++ PxArray<ArticulationAttachment> mAttachments;
++ Cm::IDPool mIDPool;
++ PxU32 mIndex;
++ };
++
++ class ArticulationTendonJoint
++ {
++ public:
++ PxU16 axis;
++ PxU16 startJointOffset;
++ PxReal coefficient;
++ PxReal recipCoefficient;
++ PxU32 mConstraintInd;
++ PxU32 parent; //parent index
++ PxU16 linkInd;
++ PxU16 childCount;
++ ArticulationAttachmentBitField children;
++ };
++
++ class ArticulationFixedTendon : public ArticulationTendon
++ {
++ public:
++
++ ArticulationFixedTendon() :mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)
++ {
++ mTendonJoints.reserve(64);
++ mTendonJoints.forceSize_Unsafe(64);
++
++ }
++
++
++ PX_FORCE_INLINE ArticulationTendonJoint* getTendonJoints() { return mTendonJoints.begin(); }
++
++ PX_FORCE_INLINE ArticulationTendonJoint& getTendonJoint(const PxU32 index) { return mTendonJoints[index]; }
++
++ PX_FORCE_INLINE PxU32 getNumJoints() { return mIDPool.getNumUsedID(); }
++
++ PX_FORCE_INLINE PxU32 getNewID()
++ {
++ const PxU32 index = mIDPool.getNewID();
++ if (mTendonJoints.capacity() <= index)
++ {
++ mTendonJoints.resize(index * 2 + 1);
++ }
++ return index;
++ }
++
++ PX_FORCE_INLINE void freeID(const PxU32 index)
++ {
++ mIDPool.freeID(index);
++ }
++
++ PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
++
++ PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
++
++ PxReal mLowLimit;
++ PxReal mHighLimit;
++ PxReal mRestLength;
++
++ PxReal mError;
++
++ private:
++ PxArray<ArticulationTendonJoint> mTendonJoints;
++
++ Cm::IDPool mIDPool;
++ PxU32 mIndex;
++ };
++
++
++ }//namespace Dy
++ }//namespace physx
++
++ #endif