ScArticulationTendonCore.h

Enable keyboard shortcuts

// 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 PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE

#define PX_PHYSICS_SCP_ARTICULATION_TENDON_CORE

#include "DyArticulationTendon.h"

namespace physx

namespace Sc

	class ArticulationSpatialTendonSim;

	class ArticulationFixedTendonSim;

	class ArticulationTendonCore

	public:

// PX_SERIALIZATION

															ArticulationTendonCore(const PxEMPTY) {}

						void								preExportDataReset() { }

//~PX_SERIALIZATION

		ArticulationTendonCore() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)

		PxReal								mStiffness;

		PxReal								mDamping;

		PxReal								mOffset;

		PxReal								mLimitStiffness;

};

	class ArticulationSpatialTendonCore : public ArticulationTendonCore

	public:

// PX_SERIALIZATION

															ArticulationSpatialTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}

						void								preExportDataReset() { }

//~PX_SERIALIZATION

		ArticulationSpatialTendonCore() : ArticulationTendonCore() { mSim = NULL; }

		~ArticulationSpatialTendonCore() {}

		void							setStiffness(const PxReal stiffness);

		PxReal							getStiffness() const;

		void							setDamping(const PxReal damping);

		PxReal							getDamping() const;

		void							setLimitStiffness(const PxReal stiffness);

		PxReal							getLimitStiffness() const;

		void							setOffset(const PxReal offset);

		PxReal							getOffset() const;

		PX_FORCE_INLINE	void							setSim(ArticulationSpatialTendonSim* sim)

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

			mSim = sim;

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

		ArticulationSpatialTendonSim*			mSim;

};

	class ArticulationFixedTendonCore : public ArticulationTendonCore

	public:

		// PX_SERIALIZATION

		ArticulationFixedTendonCore(const PxEMPTY) : ArticulationTendonCore(PxEmpty), mSim(NULL) {}

		void preExportDataReset() {}

		//~PX_SERIALIZATION

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

		{ mSim = NULL; }

		~ArticulationFixedTendonCore() {}

		void							setStiffness(const PxReal stiffness);

		PxReal							getStiffness() const;

		void							setDamping(const PxReal damping);

		PxReal							getDamping() const;

		void							setLimitStiffness(const PxReal stiffness);

		PxReal							getLimitStiffness() const;

		void							setOffset(const PxReal offset);

		PxReal							getOffset() const;

		void							setSpringRestLength(const PxReal restLength);

		PxReal							getSpringRestLength() const;

		void							setLimitRange(const PxReal lowLimit, const PxReal highLimit);

		void							getLimitRange(PxReal& lowLimit, PxReal& highLimit) const;

		PX_FORCE_INLINE	void							setSim(ArticulationFixedTendonSim* sim)

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

			mSim = sim;

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

		PxReal								mLowLimit;

		PxReal								mHighLimit;

		PxReal								mRestLength;

		ArticulationFixedTendonSim*			mSim;

};

}//namespace Sc

} //namespace physx

#endif