DyArticulationTendon.h

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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 PXD_ARTICULATION_TENDON_H

#define PXD_ARTICULATION_TENDON_H

#include "foundation/PxVec3.h"

#include "foundation/PxQuat.h"

#include "foundation/PxTransform.h"

#include "foundation/PxVecMath.h"

#include "foundation/PxUtilities.h"

#include "CmUtils.h"

#include "CmIDPool.h"

#include "solver/PxSolverDefs.h"

namespace physx

namespace Dy

	typedef PxU64 ArticulationAttachmentBitField;

#define DY_ARTICULATION_ATTACHMENT_NONE 0xffffffff

	struct ArticulationAttachment

		PxVec3 relativeOffset;		//relative offset to the link

		PxReal lowLimit;

		PxReal highLimit;

		PxReal restLength;

		PxReal coefficient;

		PxU32 parent;	//parent index

		PxU32 myInd;

		PxU32 mConstraintInd;

		PxU16 linkInd;

		PxU16 childCount;

		ArticulationAttachmentBitField children;

};

	class ArticulationTendon

	public:

		ArticulationTendon() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)

		PxReal								mStiffness;

		PxReal								mDamping;

		PxReal								mOffset;

		PxReal								mLimitStiffness;

};

	class ArticulationSpatialTendon : public ArticulationTendon

	public:

		ArticulationSpatialTendon()

			mAttachments.reserve(64);

			mAttachments.forceSize_Unsafe(64);

		PX_FORCE_INLINE ArticulationAttachment* getAttachments() { return mAttachments.begin(); }

		PX_FORCE_INLINE ArticulationAttachment& getAttachment(const PxU32 index) { return mAttachments[index]; }

		PX_FORCE_INLINE PxU32 getNumAttachments() { return mIDPool.getNumUsedID(); }

		PX_FORCE_INLINE PxU32 getNewID()

			const PxU32 index = mIDPool.getNewID();

			if (mAttachments.capacity() <= index)

				mAttachments.resize(index * 2 + 1);

			return index;

		PX_FORCE_INLINE void freeID(const PxU32 index)

			mIDPool.freeID(index);

		PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }

		PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }

	private:

		PxArray<ArticulationAttachment>		mAttachments;

		Cm::IDPool							mIDPool;

		PxU32								mIndex;

};

	class ArticulationTendonJoint

	public:

		PxU16					        axis;

		PxU16							startJointOffset;

		PxReal							coefficient;

		PxReal							recipCoefficient;

		PxU32							mConstraintInd;

		PxU32							parent;	//parent index

		PxU16							linkInd;

		PxU16							childCount;

		ArticulationAttachmentBitField	children;

};

	class ArticulationFixedTendon : public ArticulationTendon

	public:

		ArticulationFixedTendon() :mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)

			mTendonJoints.reserve(64);

			mTendonJoints.forceSize_Unsafe(64);

		PX_FORCE_INLINE ArticulationTendonJoint* getTendonJoints() { return mTendonJoints.begin(); }

		PX_FORCE_INLINE ArticulationTendonJoint& getTendonJoint(const PxU32 index) { return mTendonJoints[index]; }

		PX_FORCE_INLINE PxU32 getNumJoints() { return mIDPool.getNumUsedID(); }

		PX_FORCE_INLINE PxU32 getNewID()

			const PxU32 index = mIDPool.getNewID();

			if (mTendonJoints.capacity() <= index)

				mTendonJoints.resize(index * 2 + 1);

			return index;

		PX_FORCE_INLINE void freeID(const PxU32 index)

			mIDPool.freeID(index);

		PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }

		PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }

		PxReal								mLowLimit;

		PxReal								mHighLimit;

		PxReal								mRestLength;

		PxReal								mError;

	private:

		PxArray<ArticulationTendonJoint>	mTendonJoints;

		Cm::IDPool							mIDPool;

		PxU32								mIndex;

};

}//namespace Dy

}//namespace physx

#endif