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_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
++ #define DY_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxQuat.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxVecMath.h"
++ #include "CmUtils.h"
++ #include "CmSpatialVector.h"
++ #include "DyVArticulation.h"
++ #include "DyFeatherstoneArticulationUtils.h"
++ #include "DyArticulationJointCore.h"
++ #include <stdio.h>
++
++ namespace physx
++ {
++ namespace Dy
++ {
++ class ArticulationJointCoreData
++ {
++ public:
++
++ ArticulationJointCoreData() : jointOffset(0xffffffff)
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 countJointDofs(ArticulationJointCore* joint) const
++ {
++ PxU8 tDof = 0;
++
++ for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
++ {
++ if (joint->motion[i] != PxArticulationMotion::eLOCKED)
++ {
++ tDof++;
++ }
++ }
++
++ return tDof;
++ }
++
++ PX_FORCE_INLINE PxU8 configureJointDofs(ArticulationJointCore* joint)
++ {
++ nbDof = 0;
++ dofLimitMask = 0;
++
++ for (PxU8 i = 0; i < DY_MAX_DOF; ++i)
++ {
++ if (joint->motion[i] != PxArticulationMotion::eLOCKED)
++ {
++ joint->invDofIds[i] = nbDof;
++ joint->dofIds[nbDof] = i;
++
++ if (joint->motion[i] == PxArticulationMotion::eLIMITED)
++ dofLimitMask |= 1 << nbDof;
++
++ nbDof++;
++ }
++ }
++
++ return nbDof;
++ }
++
++ PxU32 jointOffset; //4
++ //degree of freedom
++ PxU8 nbDof; //1
++ PxU8 dofLimitMask; //1
++ };
++
++ }//namespace Dy
++ }
++
++ #endif