ScArticulationTendonCore.h

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++ // 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 PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE

++ #define PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE

++

++ #include "DyArticulationTendon.h"

++

++ namespace physx

++ {

++ namespace Sc

++ {

++ 	class ArticulationSpatialTendonSim;

++ 	class ArticulationFixedTendonSim;

++

++ 	class ArticulationTendonCore

++ 	{

++ 	public:

++

++ // PX_SERIALIZATION

++ 															ArticulationTendonCore(const PxEMPTY) {}

++ 						void								preExportDataReset() { }

++ //~PX_SERIALIZATION

++

++ 		ArticulationTendonCore() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)

++ 		{

++

++ 		}

++ 		PxReal								mStiffness;

++ 		PxReal								mDamping;

++ 		PxReal								mOffset;

++ 		PxReal								mLimitStiffness;

++ 	};

++

++ 	class ArticulationSpatialTendonCore : public ArticulationTendonCore

++ 	{

++ 	public:

++

++ // PX_SERIALIZATION

++ 															ArticulationSpatialTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}

++ 						void								preExportDataReset() { }

++ //~PX_SERIALIZATION

++

++ 		ArticulationSpatialTendonCore() : ArticulationTendonCore() { mSim = NULL; }

++ 		~ArticulationSpatialTendonCore() {}

++

++ 		void							setStiffness(const PxReal stiffness);

++ 		PxReal							getStiffness() const;

++

++ 		void							setDamping(const PxReal damping);

++ 		PxReal							getDamping() const;

++

++ 		void							setLimitStiffness(const PxReal stiffness);

++ 		PxReal							getLimitStiffness() const;

++

++ 		void							setOffset(const PxReal offset);

++ 		PxReal							getOffset() const;

++

++

++ 		PX_FORCE_INLINE	void							setSim(ArticulationSpatialTendonSim* sim)

++ 		{

++ 			PX_ASSERT((sim == 0) ^ (mSim == 0));

++ 			mSim = sim;

++ 		}

++

++ 		PX_FORCE_INLINE	ArticulationSpatialTendonSim*			getSim()			const { return mSim; }

++

++

++ 		ArticulationSpatialTendonSim*			mSim;

++ 	};

++

++ 	class ArticulationFixedTendonCore : public ArticulationTendonCore

++ 	{

++ 	public:

++ 		// PX_SERIALIZATION

++ 		ArticulationFixedTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}

++ 		void preExportDataReset() {}

++ 		//~PX_SERIALIZATION

++

++ 		ArticulationFixedTendonCore() : ArticulationTendonCore(), mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)

++ 		{ mSim = NULL; }

++ 		~ArticulationFixedTendonCore() {}

++

++ 		void							setStiffness(const PxReal stiffness);

++ 		PxReal							getStiffness() const;

++

++ 		void							setDamping(const PxReal damping);

++ 		PxReal							getDamping() const;

++

++ 		void							setLimitStiffness(const PxReal stiffness);

++ 		PxReal							getLimitStiffness() const;

++

++

++ 		void							setOffset(const PxReal offset);

++ 		PxReal							getOffset() const;

++

++ 		void							setSpringRestLength(const PxReal restLength);

++ 		PxReal							getSpringRestLength() const;

++

++ 		void							setLimitRange(const PxReal lowLimit, const PxReal highLimit);

++ 		void							getLimitRange(PxReal& lowLimit, PxReal& highLimit) const;

++

++ 		PX_FORCE_INLINE	void							setSim(ArticulationFixedTendonSim* sim)

++ 		{

++ 			PX_ASSERT((sim == 0) ^ (mSim == 0));

++ 			mSim = sim;

++ 		}

++ 		PX_FORCE_INLINE	ArticulationFixedTendonSim*			getSim()			const { return mSim; }

++

++ 		PxReal								mLowLimit;

++ 		PxReal								mHighLimit;

++ 		PxReal								mRestLength;

++

++ 		ArticulationFixedTendonSim*			mSim;

++ 	};

++

++

++ }//namespace Sc

++ } //namespace physx

++

++ #endif