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++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
++
++ #include "qprismaticjoint_p.h"
++
++ #include "physxnode/qphysxactorbody_p.h"
++ #include "qabstractphysicsnode_p.h"
++ #include "qstaticphysxobjects_p.h"
++
++ #include <extensions/PxPrismaticJoint.h>
++
++ #include <PxPhysics.h>
++
++ #include <foundation/PxSimpleTypes.h>
++
++ QT_BEGIN_NAMESPACE
++
++ /*!
++ \qmltype PrismaticJoint
++ \inqmlmodule QtQuick3D.Physics
++ \since 6.12
++ \inherits FlexibleJoint
++ \brief A prismatic joint.
++
++ A prismatic joint permits relative translational movement between two bodies along an axis, but
++ no relative rotational movement. the axis on each body is defined as the line containing the
++ origin of the joint frame and extending along the x-axis of that frame
++
++ \sa {DistanceJoint}
++ \sa {FixedJoint}
++ \sa {RevoluteJoint}
++ \sa {SphericalJoint}
++ \sa {D6Joint}
++ */
++
++ /*!
++ \qmlproperty real PrismaticJoint::lowerLimit
++ \since 6.12
++ \default -1000000
++
++ The lower limit of the constraint, i.e. how far along the negative x-axis the joint can extend.
++
++ Range: \c{[-inf, inf]}
++
++ \sa upperLimit
++ */
++
++ /*!
++ \qmlproperty real PrismaticJoint::upperLimit
++ \since 6.12
++ \default 1000000
++
++ The upper limit of the constraint, i.e. how far along the positive x-axis the joint can extend.
++
++ Range: \c{[-inf, inf]}
++
++ \sa lowerLimit
++ */
++
++ physx::PxJoint *QPrismaticJoint::createPhysxJoint(physx::PxRigidActor *actorA,
++ physx::PxRigidActor *actorB,
++ const physx::PxTransform &trfA,
++ const physx::PxTransform &trfB)
++ {
++ return physx::PxPrismaticJointCreate(*StaticPhysXObjects::getReference().physics, actorA, trfA,
++ actorB, trfB);
++ }
++
++ void QPrismaticJoint::setJointProperties()
++ {
++ physx::PxPrismaticJoint *joint = static_cast<physx::PxPrismaticJoint *>(m_joint);
++ const physx::PxTolerancesScale scale =
++ StaticPhysXObjects::getReference().physics->getTolerancesScale();
++ const float lowerLimit = qMin(m_lowerLimit, m_upperLimit);
++ const float upperLimit = qMax(m_lowerLimit, m_upperLimit);
++
++ physx::PxJointLinearLimitPair limit(scale, lowerLimit, upperLimit);
++ limit.stiffness = m_stiffness;
++ limit.damping = m_damping;
++
++ joint->setLimit(limit);
++ joint->setPrismaticJointFlag(physx::PxPrismaticJointFlag::eLIMIT_ENABLED, true);
++ }
++
++ float QPrismaticJoint::lowerLimit() const
++ {
++ return m_lowerLimit;
++ }
++
++ void QPrismaticJoint::setLowerLimit(float newLowerLimit)
++ {
++ newLowerLimit = qBound(-PX_MAX_F32, newLowerLimit, PX_MAX_F32);
++ if (qFuzzyCompare(m_lowerLimit, newLowerLimit))
++ return;
++ m_lowerLimit = newLowerLimit;
++ m_dirtyProperties = true;
++ emit lowerLimitChanged();
++ }
++
++ float QPrismaticJoint::upperLimit() const
++ {
++ return m_upperLimit;
++ }
++
++ void QPrismaticJoint::setUpperLimit(float newUpperLimit)
++ {
++ newUpperLimit = qBound(-PX_MAX_F32, newUpperLimit, PX_MAX_F32);
++ if (qFuzzyCompare(m_upperLimit, newUpperLimit))
++ return;
++ m_upperLimit = newUpperLimit;
++ m_dirtyProperties = true;
++ emit upperLimitChanged();
++ }
++
++ QT_END_NAMESPACE