ScArticulationTendonJointCore.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_TENDON_JOINT_CORE_H

#define SC_TENDON_JOINT_CORE_H

#include "foundation/PxVec3.h"

#include "solver/PxSolverDefs.h"

namespace physx

	namespace Sc

		class ArticulationFixedTendonSim;

		class ArticulationTendonJointCore

		public:

			// PX_SERIALIZATION

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

			void preExportDataReset() { }

			//~PX_SERIALIZATION

			ArticulationTendonJointCore()

				coefficient = PX_MAX_F32;

				recipCoefficient = PX_MAX_F32;

			PX_FORCE_INLINE PxArticulationAxis::Enum getAxis()

				return axis;

			PX_FORCE_INLINE void getCoefficient(PxArticulationAxis::Enum& axis_, PxReal& coefficient_, PxReal& recipCoefficient_) const

				axis_ = axis;

				coefficient_ = coefficient;

				recipCoefficient_ = recipCoefficient;

			void setCoefficient(PxArticulationAxis::Enum axis_, const PxReal coefficient_, const PxReal recipCoefficient_);

			PxArticulationAxis::Enum			axis;

			PxReal								coefficient;

			PxReal								recipCoefficient;

			PxU32								mLLLinkIndex;

			ArticulationTendonJointCore*		mParent;

			PxU32								mLLTendonJointIndex;

			Sc::ArticulationFixedTendonSim*		mTendonSim;

};

	}//namespace Sc

}//namespace physx

#endif