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_V_ARTICULATION_H
++ #define DY_V_ARTICULATION_H
++
++ #include "DyArticulationJointCore.h"
++
++ namespace physx
++ {
++ struct PxsBodyCore;
++
++ namespace Dy
++ {
++ struct Constraint;
++
++ typedef PxU64 ArticulationBitField;
++
++ struct ArticulationLoopConstraint
++ {
++ public:
++ PxU32 linkIndex0;
++ PxU32 linkIndex1;
++ Dy::Constraint* constraint;
++ };
++
++ #define DY_ARTICULATION_LINK_NONE 0xffffffff
++
++ struct ArticulationLink
++ {
++ PxU32 mPathToRootStartIndex;
++ PxU32 mChildrenStartIndex;
++ PxU16 mPathToRootCount;
++ PxU16 mNumChildren;
++ PxsBodyCore* bodyCore;
++ ArticulationJointCore* inboundJoint;
++ PxU32 parent;
++ PxReal cfm;
++
++ PX_FORCE_INLINE void initBody(PxsBodyCore* core)
++ {
++ bodyCore = core;
++ mPathToRootStartIndex = 0;
++ mPathToRootCount = 0;
++ mChildrenStartIndex = 0xffffffff;
++ mNumChildren = 0;
++ }
++
++ PX_FORCE_INLINE void initJoint(ArticulationJointCore* core, PxU32 parentIndex)
++ {
++ inboundJoint = core;
++ parent = parentIndex;
++ }
++ };
++ }
++ }
++
++ #endif