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
++
++ #include "ScArticulationJointSim.h"
++ #include "ScArticulationJointCore.h"
++ #include "ScBodySim.h"
++ #include "ScArticulationSim.h"
++ #include "ScArticulationCore.h"
++
++ using namespace physx;
++
++ Sc::ArticulationJointSim::ArticulationJointSim(ArticulationJointCore& joint, ActorSim& parent, ActorSim& child) :
++ Interaction (parent, child, InteractionType::eARTICULATION, 0),
++ mCore (joint)
++ {
++ {
++ onActivate();
++ registerInActors();
++ }
++
++ BodySim& childBody = static_cast<BodySim&>(child),
++ & parentBody = static_cast<BodySim&>(parent);
++
++ parentBody.getArticulation()->addBody(childBody, &parentBody, this);
++
++ mCore.setSim(this);
++ }
++
++ Sc::ArticulationJointSim::~ArticulationJointSim()
++ {
++ // articulation interactions do not make use of the dirty flags yet. If they did, a setClean(true) has to be introduced here.
++ PX_ASSERT(!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST));
++ PX_ASSERT(!getDirtyFlags());
++
++ unregisterFromActors();
++
++ mCore.setSim(NULL);
++ }
++
++ Sc::BodySim& Sc::ArticulationJointSim::getParent() const
++ {
++ return static_cast<BodySim&>(getActorSim0());
++ }
++
++ Sc::BodySim& Sc::ArticulationJointSim::getChild() const
++ {
++ return static_cast<BodySim&>(getActorSim1());
++ }
++
++ bool Sc::ArticulationJointSim::onActivate()
++ {
++ if(!(getParent().isActive() && getChild().isActive()))
++ return false;
++
++ raiseInteractionFlag(InteractionFlag::eIS_ACTIVE);
++ return true;
++ }
++
++ bool Sc::ArticulationJointSim::onDeactivate()
++ {
++ clearInteractionFlag(InteractionFlag::eIS_ACTIVE);
++ return true;
++ }
++
++ void Sc::ArticulationJointSim::setDirty()
++ {
++ Dy::ArticulationJointCore& llCore = mCore.getCore();
++ ArticulationSim* sim = mCore.getArticulation()->getSim();
++ sim->setJointDirty(llCore);
++ }