ScArticulationAttachmentCore.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 SC_ATTACHMENT_CORE_H

#define SC_ATTACHMENT_CORE_H

#include "foundation/PxVec3.h"

namespace physx

namespace Sc

	class ArticulationAttachmentCore

	public:

// PX_SERIALIZATION

															ArticulationAttachmentCore(const PxEMPTY) :  mTendonSim(NULL) {}

						void								preExportDataReset() { }

//~PX_SERIALIZATION

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

		PxVec3								mRelativeOffset;		//relative offset to the link(in link space)

		ArticulationAttachmentCore*			mParent;

		PxReal								mLowLimit;

		PxReal								mHighLimit;

		PxReal								mRestLength;

		PxReal								mCoefficient;

		PxU32								mLLLinkIndex;

		PxU32								mAttachmentIndex;

		Sc::ArticulationSpatialTendonSim*	mTendonSim;

};

}//namespace Sc

}//namespace physx

#endif