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 SC_ARTICULATION_CORE_H
++ #define SC_ARTICULATION_CORE_H
++
++ #include "ScActorCore.h"
++ #include "DyFeatherstoneArticulation.h"
++
++ namespace physx
++ {
++ class PxNodeIndex;
++
++ namespace Sc
++ {
++ class ArticulationSim;
++
++ class ArticulationCore
++ {
++ // PX_SERIALIZATION
++ public:
++ ArticulationCore(const PxEMPTY) : mSim(NULL), mCore(PxEmpty) {}
++ //~PX_SERIALIZATION
++ ArticulationCore();
++ ~ArticulationCore();
++
++ //---------------------------------------------------------------------------------
++ // External API
++ //---------------------------------------------------------------------------------
++ PX_FORCE_INLINE PxReal getSleepThreshold() const { return mCore.sleepThreshold; }
++ PX_FORCE_INLINE void setSleepThreshold(const PxReal v) { mCore.sleepThreshold = v; }
++
++ PX_FORCE_INLINE PxReal getFreezeThreshold() const { return mCore.freezeThreshold; }
++ PX_FORCE_INLINE void setFreezeThreshold(const PxReal v) { mCore.freezeThreshold = v; }
++
++ PX_FORCE_INLINE PxU16 getSolverIterationCounts() const { return mCore.solverIterationCounts; }
++ PX_FORCE_INLINE void setSolverIterationCounts(PxU16 c) { mCore.solverIterationCounts = c; }
++
++ PX_FORCE_INLINE PxReal getWakeCounter() const { return mCore.wakeCounter; }
++ PX_FORCE_INLINE void setWakeCounterInternal(const PxReal v) { mCore.wakeCounter = v; }
++ void setWakeCounter(const PxReal v);
++
++ bool isSleeping() const;
++ void wakeUp(PxReal wakeCounter);
++ void putToSleep();
++
++ //---------------------------------------------------------------------------------
++ // external reduced coordinate API
++ //---------------------------------------------------------------------------------
++ void setArticulationFlags(PxArticulationFlags flags);
++ PxArticulationFlags getArticulationFlags() const { return mCore.flags; }
++
++ PxU32 getDofs() const;
++
++ PxArticulationCache* createCache() const;
++
++ PxU32 getCacheDataSize() const;
++
++ void zeroCache(PxArticulationCache& cache) const;
++
++ bool applyCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag)const;
++
++ void copyInternalStateToCache
++ (PxArticulationCache& cache, const PxArticulationCacheFlags flag, const bool isGpuSimEnabled) const;
++
++ void packJointData(const PxReal* maximum, PxReal* reduced) const;
++
++ void unpackJointData(const PxReal* reduced, PxReal* maximum) const;
++
++ void commonInit() const;
++
++ void computeGeneralizedGravityForce(PxArticulationCache& cache) const;
++
++ void computeCoriolisAndCentrifugalForce(PxArticulationCache& cache) const;
++
++ void computeGeneralizedExternalForce(PxArticulationCache& cache) const;
++
++ void computeJointAcceleration(PxArticulationCache& cache) const;
++
++ void computeJointForce(PxArticulationCache& cache) const;
++
++ void computeDenseJacobian(PxArticulationCache& cache, PxU32& nRows, PxU32& nCols) const;
++
++ void computeCoefficientMatrix_Deprecated(PxArticulationCache& cache) const;
++
++ bool computeLambda_Deprecated(PxArticulationCache& cache, PxArticulationCache& rollBackCache, const PxReal* const jointTorque, const PxVec3 gravity, const PxU32 maxIter) const;
++
++ void computeGeneralizedMassMatrix(PxArticulationCache& cache) const;
++
++ PxVec3 computeArticulationCOM(const bool rootFrame) const;
++
++ void computeCentroidalMomentumMatrix(PxArticulationCache& cache) const;
++
++ PxU32 getCoefficientMatrixSize_Deprecated() const;
++
++ PxSpatialVelocity getLinkAcceleration(const PxU32 linkId, const bool isGpuSimEnabled) const;
++
++ PxU32 getGpuArticulationIndex() const;
++
++ void updateKinematic(PxArticulationKinematicFlags flags);
++ //---------------------------------------------------------------------------------
++ // Internal API
++ //---------------------------------------------------------------------------------
++ public:
++ PX_FORCE_INLINE void setSim(ArticulationSim* sim)
++ {
++ PX_ASSERT((sim==0) ^ (mSim == 0));
++ mSim = sim;
++ }
++ PX_FORCE_INLINE ArticulationSim* getSim() const { return mSim; }
++
++ PX_FORCE_INLINE Dy::ArticulationCore& getCore() { return mCore; }
++
++ static PX_FORCE_INLINE ArticulationCore& getArticulationCore(ArticulationCore& core)
++ {
++ const size_t offset = PX_OFFSET_OF(ArticulationCore, mCore);
++ return *reinterpret_cast<ArticulationCore*>(reinterpret_cast<PxU8*>(&core) - offset);
++ }
++
++ PxNodeIndex getIslandNodeIndex() const;
++
++ void setGlobalPose();
++
++ private:
++ ArticulationSim* mSim;
++ Dy::ArticulationCore mCore;
++ };
++
++ } // namespace Sc
++
++ }
++
++ #endif