DyVArticulation.h - mozsearch

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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 DY_V_ARTICULATION_H

#define DY_V_ARTICULATION_H

#include "DyArticulationJointCore.h"

namespace physx

	struct PxsBodyCore;

	namespace Dy

		struct Constraint;

		typedef PxU64 ArticulationBitField;

		struct ArticulationLoopConstraint

		public:

			PxU32 linkIndex0;

			PxU32 linkIndex1;

			Dy::Constraint* constraint;

};

#define DY_ARTICULATION_LINK_NONE 0xffffffff

		struct ArticulationLink

			PxU32					mPathToRootStartIndex;

			PxU32					mChildrenStartIndex;

			PxU16					mPathToRootCount;

			PxU16					mNumChildren;

			PxsBodyCore*			bodyCore;

			ArticulationJointCore*	inboundJoint;

			PxU32					parent;

			PxReal					cfm;

			PX_FORCE_INLINE	void	initBody(PxsBodyCore* core)

				bodyCore				= core;

				mPathToRootStartIndex	= 0;

				mPathToRootCount		= 0;

				mChildrenStartIndex		= 0xffffffff;

				mNumChildren			= 0;

			PX_FORCE_INLINE	void	initJoint(ArticulationJointCore* core, PxU32 parentIndex)

				inboundJoint	= core;

				parent			= parentIndex;

};

#endif