ScArticulationMimicJointCore.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_ARTICULATION_MIMIC_JOINT_CORE

#define SC_ARTICULATION_MIMIC_JOINT_CORE

#include "foundation/PxVec3.h"

#include "foundation/PxTransform.h"

namespace physx

namespace Sc

class ArticulationCore;

class ArticulationMimicJointSim;

class ArticulationMimicJointCore

public:

// PX_SERIALIZATION

	ArticulationMimicJointCore(const PxEMPTY) :mSim(NULL) {}

//~PX_SERIALIZATION

	ArticulationMimicJointCore() : mSim(NULL) {}

	PX_FORCE_INLINE	void setSim(ArticulationMimicJointSim* sim)

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

		mSim = sim;

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

	ArticulationMimicJointSim*	mSim;

	PxU32 mAxisA;

	PxU32 mAxisB;

	PxReal mGearRatio;

	PxReal mOffset;

	PxReal mNaturalFrequency;

	PxReal mDampingRatio;

};

}//namespace Sc

}//namespace physx

#endif //SC_ARTICULATION_MIMIC_JOINT_CORE