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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 DY_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
#define DY_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxVecMath.h"
#include "CmUtils.h"
#include "CmSpatialVector.h"
#include "DyVArticulation.h"
#include "DyFeatherstoneArticulationUtils.h"
#include "DyArticulationJointCore.h"
#include <stdio.h>
namespace physx
{
namespace Dy
{
class ArticulationJointCoreData
{
public:
ArticulationJointCoreData() : jointOffset(0xffffffff)
{
}
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 countJointDofs(ArticulationJointCore* joint) const
{
PxU8 tDof = 0;
for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
{
if (joint->motion[i] != PxArticulationMotion::eLOCKED)
{
tDof++;
}
}
return tDof;
}
PX_FORCE_INLINE PxU8 configureJointDofs(ArticulationJointCore* joint)
{
nbDof = 0;
dofLimitMask = 0;
for (PxU8 i = 0; i < DY_MAX_DOF; ++i)
{
if (joint->motion[i] != PxArticulationMotion::eLOCKED)
{
joint->invDofIds[i] = nbDof;
joint->dofIds[nbDof] = i;
if (joint->motion[i] == PxArticulationMotion::eLIMITED)
dofLimitMask |= 1 << nbDof;
nbDof++;
}
}
return nbDof;
}
PxU32 jointOffset; //4
//degree of freedom
PxU8 nbDof; //1
PxU8 dofLimitMask; //1
};
}//namespace Dy
}
#endif