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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+
+ #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