ScArticulationJointCore.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_JOINT_CORE_H

#define SC_ARTICULATION_JOINT_CORE_H

#include "foundation/PxTransform.h"

#include "DyVArticulation.h"

namespace physx

namespace Sc

	class BodyCore;

	class ArticulationJointSim;

	class ArticulationCore;

	class ArticulationJointDesc

	public:

		BodyCore*	parent;

		BodyCore*	child;

		PxTransform	parentPose;

		PxTransform	childPose;

};

	class ArticulationJointCore

	public:

// PX_SERIALIZATION

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

						void								preExportDataReset() { mCore.jCalcUpdateFrames = true; }

//~PX_SERIALIZATION

															ArticulationJointCore(const PxTransform& parentFrame, const PxTransform& childFrame);

															~ArticulationJointCore();

		//Those methods are not allowed while the articulation are in the scene

		PX_FORCE_INLINE	const PxTransform&					getParentPose() const { return mCore.parentPose; }

						void								setParentPose(const PxTransform&);

		PX_FORCE_INLINE	const PxTransform&					getChildPose() const { return mCore.childPose; }

						void								setChildPose(const PxTransform&);

		//Those functions doesn't change the articulation configuration so the application is allowed to change those value in run-time

		PX_FORCE_INLINE	PxArticulationLimit					getLimit(PxArticulationAxis::Enum axis)		const	{ return mCore.limits[axis];	}

						void								setLimit(PxArticulationAxis::Enum axis, const PxArticulationLimit& limit);

		PX_FORCE_INLINE	PxArticulationDrive					getDrive(PxArticulationAxis::Enum axis)		const	{ return mCore.drives[axis];	}

						void								setDrive(PxArticulationAxis::Enum axis, const PxArticulationDrive& drive);

						void								setTargetP(PxArticulationAxis::Enum axis, PxReal targetP);

		PX_FORCE_INLINE	PxReal								getTargetP(PxArticulationAxis::Enum axis)	const	{ return mCore.targetP[axis];	}

						void								setTargetV(PxArticulationAxis::Enum axis, PxReal targetV);

		PX_FORCE_INLINE	PxReal								getTargetV(PxArticulationAxis::Enum axis)	const	{ return mCore.targetV[axis];	}

						void								setArmature(PxArticulationAxis::Enum axis, PxReal armature);

		PX_FORCE_INLINE	PxReal								getArmature(PxArticulationAxis::Enum axis)	const	{ return mCore.armature[axis];	}

						void								setJointPosition(PxArticulationAxis::Enum axis, const PxReal jointPos);

						PxReal								getJointPosition(PxArticulationAxis::Enum axis)	const;

						void								setJointVelocity(PxArticulationAxis::Enum axis, const PxReal jointVel);

						PxReal								getJointVelocity(PxArticulationAxis::Enum axis)	const;

						void								setMaxJointVelocity(PxReal maxJointV);

		PX_FORCE_INLINE	PxReal								getMaxJointVelocity()	const	{ return mCore.maxJointVelocity[0];	}

						void								setMaxJointVelocity(PxArticulationAxis::Enum axis, PxReal maxJointV);

		PX_FORCE_INLINE	PxReal								getMaxJointVelocity(PxArticulationAxis::Enum axis)	const	{ return mCore.maxJointVelocity[axis];	}

		PX_FORCE_INLINE	void								setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion)	{ mCore.motion[axis] = PxU8(motion);						}

		PX_FORCE_INLINE	PxArticulationMotion::Enum			getMotion(PxArticulationAxis::Enum axis)							const	{ return PxArticulationMotion::Enum(mCore.motion[axis]);	}

		PX_FORCE_INLINE	void								setJointType(PxArticulationJointType::Enum type)	{ mCore.setJointType(type);								}

		PX_FORCE_INLINE	PxArticulationJointType::Enum		getJointType()								const	{ return PxArticulationJointType::Enum(mCore.jointType);	}

						void								setFrictionCoefficient(const PxReal coefficient);

		PX_FORCE_INLINE	PxReal								getFrictionCoefficient()					const	{ return mCore.frictionCoefficient;				}

						void								setFrictionParams(PxArticulationAxis::Enum axis, const PxJointFrictionParams& jointFrictionParams);

		PX_FORCE_INLINE PxJointFrictionParams				getFrictionParams(PxArticulationAxis::Enum axis) const	{ return mCore.frictionParams[axis];				}

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

		PX_FORCE_INLINE	void									setSim(ArticulationJointSim* sim)

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

																	mSim = sim;

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

		PX_FORCE_INLINE void									setArticulation(ArticulationCore* articulation)		{ mArticulation = articulation;	}

		PX_FORCE_INLINE	const ArticulationCore*					getArticulation()							const	{ return mArticulation;			}

		PX_FORCE_INLINE void									setRoot(PxArticulationJointReducedCoordinate* base)	{ mRootType = base;				}

		PX_FORCE_INLINE PxArticulationJointReducedCoordinate*	getRoot()									const	{ return mRootType;				}

		PX_FORCE_INLINE void									setLLIndex(const PxU32 llLinkIndex)					{ mLLLinkIndex = llLinkIndex;	}

	private:

						void									setSimDirty();

		PX_FORCE_INLINE	void									setDirty()

																	mCore.jCalcUpdateFrames = true;

																	setSimDirty();

						Dy::ArticulationJointCore				mCore;

						ArticulationJointSim*					mSim;

						ArticulationCore*						mArticulation;

						PxArticulationJointReducedCoordinate*	mRootType;

						PxU32									mLLLinkIndex;

#if PX_P64_FAMILY

						PxU32									pad;

#endif

};

} // namespace Sc

#endif

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