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// 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
#ifndef PX_ARTICULATION_TENDON_DATA_H
#define PX_ARTICULATION_TENDON_DATA_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief PxGpuSpatialTendonData
This data structure is to be used by the direct GPU API for spatial tendon data updates.
\see PxArticulationSpatialTendon PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
*/
PX_ALIGN_PREFIX(16)
class PxGpuSpatialTendonData
{
public:
PxReal stiffness;
PxReal damping;
PxReal limitStiffness;
PxReal offset;
}
PX_ALIGN_SUFFIX(16);
/**
\brief PxGpuFixedTendonData
This data structure is to be used by the direct GPU API for fixed tendon data updates.
\see PxArticulationFixedTendon PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
*/
PX_ALIGN_PREFIX(16)
class PxGpuFixedTendonData : public PxGpuSpatialTendonData
{
public:
PxReal lowLimit;
PxReal highLimit;
PxReal restLength;
PxReal padding;
}
PX_ALIGN_SUFFIX(16);
/**
\brief PxGpuTendonJointCoefficientData
This data structure is to be used by the direct GPU API for fixed tendon joint data updates.
\see PxArticulationTendonJoint PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
*/
PX_ALIGN_PREFIX(16)
class PxGpuTendonJointCoefficientData
{
public:
PxReal coefficient;
PxReal recipCoefficient;
PxU32 axis;
PxU32 pad;
}
PX_ALIGN_SUFFIX(16);
/**
\brief PxGpuTendonAttachmentData
This data structure is to be used by the direct GPU API for spatial tendon attachment data updates.
\see PxArticulationAttachment PxDirectGPUAPI::getArticulationData PxDirectGPUAPI::setArticulationData
*/
PX_ALIGN_PREFIX(16)
class PxGpuTendonAttachmentData
{
public:
PxVec3 relativeOffset;
PxReal restLength;
PxReal coefficient;
PxReal lowLimit;
PxReal highLimit;
PxReal padding;
}
PX_ALIGN_SUFFIX(16);
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif