ScArticulationCore.h

// 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_ARTICULATION_CORE_H

#define SC_ARTICULATION_CORE_H

#include "ScActorCore.h"

#include "DyFeatherstoneArticulation.h"

namespace physx

class PxNodeIndex;

namespace Sc

	class ArticulationSim;

	class ArticulationCore

// PX_SERIALIZATION

		public:

													ArticulationCore(const PxEMPTY) : mSim(NULL), mCore(PxEmpty) {}

//~PX_SERIALIZATION

													ArticulationCore();

													~ArticulationCore();

		//---------------------------------------------------------------------------------

		// External API

		//---------------------------------------------------------------------------------

		PX_FORCE_INLINE	PxReal						getSleepThreshold()					const	{ return mCore.sleepThreshold;			}

		PX_FORCE_INLINE	void						setSleepThreshold(const PxReal v)			{ mCore.sleepThreshold = v;				}

		PX_FORCE_INLINE	PxReal						getFreezeThreshold()				const	{ return mCore.freezeThreshold;			}

		PX_FORCE_INLINE	void						setFreezeThreshold(const PxReal v)			{ mCore.freezeThreshold = v;			}

		PX_FORCE_INLINE	PxU16						getSolverIterationCounts()			const	{ return mCore.solverIterationCounts;	}

		PX_FORCE_INLINE	void						setSolverIterationCounts(PxU16 c)			{ mCore.solverIterationCounts = c;		}

		PX_FORCE_INLINE	PxReal						getWakeCounter()					const	{ return mCore.wakeCounter;				}

		PX_FORCE_INLINE	void						setWakeCounterInternal(const PxReal v)		{ mCore.wakeCounter = v;				}

						void						setWakeCounter(const PxReal v);

						bool						isSleeping() const;

						void						wakeUp(PxReal wakeCounter);

						void						putToSleep();

		//---------------------------------------------------------------------------------

		// external reduced coordinate API

		//---------------------------------------------------------------------------------

						void						setArticulationFlags(PxArticulationFlags flags);

						PxArticulationFlags			getArticulationFlags() const { return mCore.flags; }

						PxU32						getDofs() const;

						PxArticulationCache*		createCache() const;

						PxU32						getCacheDataSize() const;

						void						zeroCache(PxArticulationCache& cache) const;

						bool						applyCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag)const;

						void						copyInternalStateToCache

														(PxArticulationCache& cache, const PxArticulationCacheFlags flag, const bool isGpuSimEnabled) const;

						void						packJointData(const PxReal* maximum, PxReal* reduced) const;

						void						unpackJointData(const PxReal* reduced, PxReal* maximum) const;

						void						commonInit() const;

						void						computeGeneralizedGravityForce(PxArticulationCache& cache) const;

						void						computeCoriolisAndCentrifugalForce(PxArticulationCache& cache) const;

						void						computeGeneralizedExternalForce(PxArticulationCache& cache) const;

						void						computeJointAcceleration(PxArticulationCache& cache) const;

						void						computeJointForce(PxArticulationCache& cache) const;

						void						computeDenseJacobian(PxArticulationCache& cache, PxU32& nRows, PxU32& nCols) const;

						void						computeCoefficientMatrix_Deprecated(PxArticulationCache& cache) const;

						bool						computeLambda_Deprecated(PxArticulationCache& cache, PxArticulationCache& rollBackCache, const PxReal* const jointTorque, const PxVec3 gravity, const PxU32 maxIter) const;

						void						computeGeneralizedMassMatrix(PxArticulationCache& cache) const;

						PxVec3						computeArticulationCOM(const bool rootFrame) const;

						void						computeCentroidalMomentumMatrix(PxArticulationCache& cache) const;

						PxU32						getCoefficientMatrixSize_Deprecated() const;

						PxSpatialVelocity			getLinkAcceleration(const PxU32 linkId, const bool isGpuSimEnabled) const;

						PxU32						getGpuArticulationIndex() const;

						void						updateKinematic(PxArticulationKinematicFlags flags);

		//---------------------------------------------------------------------------------

		// Internal API

		//---------------------------------------------------------------------------------

	public:

		PX_FORCE_INLINE	void						setSim(ArticulationSim* sim)

														PX_ASSERT((sim==0) ^ (mSim == 0));

														mSim = sim;

		PX_FORCE_INLINE	ArticulationSim*			getSim()			const	{ return mSim;			}

		PX_FORCE_INLINE	Dy::ArticulationCore&		getCore()			{ return mCore;			}

		static PX_FORCE_INLINE ArticulationCore&	getArticulationCore(ArticulationCore& core)

														const size_t offset = PX_OFFSET_OF(ArticulationCore, mCore);

														return *reinterpret_cast<ArticulationCore*>(reinterpret_cast<PxU8*>(&core) - offset);

						PxNodeIndex					getIslandNodeIndex() const;

						void						setGlobalPose();

	private:

						ArticulationSim*			mSim;

						Dy::ArticulationCore		mCore;

};

} // namespace Sc

#endif

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