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++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
++
++ #include "qdistancejoint_p.h"
++
++ #include "physxnode/qphysxactorbody_p.h"
++ #include "qabstractphysicsnode_p.h"
++ #include "qstaticphysxobjects_p.h"
++
++ #include <extensions/PxDistanceJoint.h>
++
++ #include <foundation/PxSimpleTypes.h>
++
++ QT_BEGIN_NAMESPACE
++
++ /*!
++ \qmltype DistanceJoint
++ \inqmlmodule QtQuick3D.Physics
++ \since 6.12
++ \inherits FlexibleJoint
++ \brief A distance joint.
++
++ A distance joint that will keep the origins of the joint within the
++ distance range specified by \l{DistanceJoint::}{minDistance} and
++ \l{DistanceJoint::}{maxDistance}.
++
++ \sa {FixedJoint}
++ \sa {PrismaticJoint}
++ \sa {RevoluteJoint}
++ \sa {SphericalJoint}
++ \sa {D6Joint}
++ */
++
++ /*!
++ \qmlproperty real DistanceJoint::minDistance
++ \since 6.12
++ \default 0.0
++
++ The minimum distance of the joint constraint. The constraint is only
++ enforced when this value is greater than \c 0.0.
++
++ Range: \c{[0, inf]}
++
++ \sa maxDistance
++ */
++
++ /*!
++ \qmlproperty real DistanceJoint::maxDistance
++ \since 6.12
++ \default 0.0
++
++ The maximum distance of the joint constraint. The constraint is only
++ enforced when this value is greater than \c 0.0.
++
++ Range: \c{[0, inf]}
++
++ \sa minDistance
++ */
++
++ float QDistanceJoint::minDistance() const
++ {
++ return m_minDistance;
++ }
++
++ void QDistanceJoint::setMinDistance(float newMinDistance)
++ {
++ newMinDistance = qBound(0.0f, newMinDistance, PX_MAX_F32);
++ if (qFuzzyCompare(m_minDistance, newMinDistance))
++ return;
++ m_minDistance = newMinDistance;
++ m_dirtyProperties = true;
++ emit minDistanceChanged();
++ }
++
++ float QDistanceJoint::maxDistance() const
++ {
++ return m_maxDistance;
++ }
++
++ void QDistanceJoint::setMaxDistance(float newMaxDistance)
++ {
++ newMaxDistance = qBound(0.0f, newMaxDistance, PX_MAX_F32);
++ if (qFuzzyCompare(m_maxDistance, newMaxDistance))
++ return;
++ m_maxDistance = newMaxDistance;
++ m_dirtyProperties = true;
++ emit maxDistanceChanged();
++ }
++
++ physx::PxJoint *QDistanceJoint::createPhysxJoint(physx::PxRigidActor *actorA,
++ physx::PxRigidActor *actorB,
++ const physx::PxTransform &trfA,
++ const physx::PxTransform &trfB)
++ {
++ return physx::PxDistanceJointCreate(*StaticPhysXObjects::getReference().physics, actorA, trfA,
++ actorB, trfB);
++ }
++
++ void QDistanceJoint::setJointProperties()
++ {
++ physx::PxDistanceJoint *joint = static_cast<physx::PxDistanceJoint *>(m_joint);
++
++ float minDistance = m_minDistance;
++ float maxDistance = m_maxDistance;
++
++ // PhysX doesn't enforce minDistance <= maxDistance itself, but violating
++ // it produces a constraint that can never be satisfied. Only reorder when
++ // both limits are actually active - a value left at the 0 "disabled"
++ // default must never be treated as "smaller than" an actively-configured
++ // limit on the other side.
++ if (m_minDistance > 0 && m_maxDistance > 0) {
++ minDistance = qMin(m_minDistance, m_maxDistance);
++ maxDistance = qMax(m_minDistance, m_maxDistance);
++ }
++
++ joint->setMinDistance(minDistance);
++ joint->setMaxDistance(maxDistance);
++ joint->setDistanceJointFlag(physx::PxDistanceJointFlag::eMIN_DISTANCE_ENABLED, minDistance > 0);
++ joint->setDistanceJointFlag(physx::PxDistanceJointFlag::eMAX_DISTANCE_ENABLED, maxDistance > 0);
++
++ joint->setStiffness(m_stiffness);
++ joint->setDamping(m_damping);
++
++ const bool enableSpring = (m_stiffness > 0.0f) || (m_damping > 0.0f);
++ joint->setDistanceJointFlag(physx::PxDistanceJointFlag::eSPRING_ENABLED, enableSpring);
++ }
++
++ QT_END_NAMESPACE