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 "ScArticulationTendonCore.h"
++ #include "ScArticulationTendonSim.h"
++
++ using namespace physx;
++
++ void Sc::ArticulationSpatialTendonCore::setStiffness(const PxReal stiffness)
++ {
++ mStiffness = stiffness;
++
++ if (mSim)
++ mSim->setStiffness(stiffness);
++ }
++
++ PxReal Sc::ArticulationSpatialTendonCore::getStiffness() const
++ {
++ return mStiffness;
++ }
++
++ void Sc::ArticulationSpatialTendonCore::setDamping(const PxReal damping)
++ {
++ mDamping = damping;
++
++ if (mSim)
++ mSim->setDamping(damping);
++ }
++
++ PxReal Sc::ArticulationSpatialTendonCore::getDamping() const
++ {
++ return mDamping;
++ }
++
++ void Sc::ArticulationSpatialTendonCore::setLimitStiffness(const PxReal stiffness)
++ {
++ mLimitStiffness = stiffness;
++
++ if (mSim)
++ mSim->setLimitStiffness(stiffness);
++ }
++
++ PxReal Sc::ArticulationSpatialTendonCore::getLimitStiffness() const
++ {
++ return mLimitStiffness;
++ }
++
++ void Sc::ArticulationSpatialTendonCore::setOffset(const PxReal offset)
++ {
++ mOffset = offset;
++
++ if (mSim)
++ mSim->setOffset(offset);
++ }
++
++ PxReal Sc::ArticulationSpatialTendonCore::getOffset() const
++ {
++ return mOffset;
++ }
++
++ /////////////////////////////////////////////////////////////////////////////////////////////////////
++
++ void Sc::ArticulationFixedTendonCore::setStiffness(const PxReal stiffness)
++ {
++ mStiffness = stiffness;
++
++ if (mSim)
++ mSim->setStiffness(stiffness);
++ }
++
++ PxReal Sc::ArticulationFixedTendonCore::getStiffness() const
++ {
++ return mStiffness;
++ }
++
++ void Sc::ArticulationFixedTendonCore::setDamping(const PxReal damping)
++ {
++ mDamping = damping;
++
++ if (mSim)
++ mSim->setDamping(damping);
++ }
++
++ PxReal Sc::ArticulationFixedTendonCore::getDamping() const
++ {
++ return mDamping;
++ }
++
++ void Sc::ArticulationFixedTendonCore::setLimitStiffness(const PxReal stiffness)
++ {
++ mLimitStiffness = stiffness;
++ if (mSim)
++ mSim->setLimitStiffness(stiffness);
++ }
++
++ PxReal Sc::ArticulationFixedTendonCore::getLimitStiffness() const
++ {
++ return mLimitStiffness;
++ }
++
++ void Sc::ArticulationFixedTendonCore::setSpringRestLength(const PxReal restLength)
++ {
++ mRestLength = restLength;
++ if (mSim)
++ mSim->setSpringRestLength(restLength);
++ }
++
++ PxReal Sc::ArticulationFixedTendonCore::getSpringRestLength() const
++ {
++ return mRestLength;
++ }
++
++ void Sc::ArticulationFixedTendonCore::setLimitRange(const PxReal lowLimit, const PxReal highLimit)
++ {
++ mLowLimit = lowLimit;
++ mHighLimit = highLimit;
++
++ if (mSim)
++ mSim->setLimitRange(lowLimit, highLimit);
++ }
++
++ void Sc::ArticulationFixedTendonCore::getLimitRange(PxReal& lowLimit, PxReal& highLimit) const
++ {
++ lowLimit = mLowLimit;
++ highLimit = mHighLimit;
++ }
++
++ void Sc::ArticulationFixedTendonCore::setOffset(const PxReal offset)
++ {
++ mOffset = offset;
++ if (mSim)
++ mSim->setOffset(offset);
++ }
++
++ PxReal Sc::ArticulationFixedTendonCore::getOffset() const
++ {
++ return mOffset;
++ }