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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
#include "ScArticulationTendonCore.h"
#include "ScArticulationTendonSim.h"
using namespace physx;
void Sc::ArticulationSpatialTendonCore::setStiffness(const PxReal stiffness)
{
mStiffness = stiffness;
if (mSim)
mSim->setStiffness(stiffness);
}
PxReal Sc::ArticulationSpatialTendonCore::getStiffness() const
{
return mStiffness;
}
void Sc::ArticulationSpatialTendonCore::setDamping(const PxReal damping)
{
mDamping = damping;
if (mSim)
mSim->setDamping(damping);
}
PxReal Sc::ArticulationSpatialTendonCore::getDamping() const
{
return mDamping;
}
void Sc::ArticulationSpatialTendonCore::setLimitStiffness(const PxReal stiffness)
{
mLimitStiffness = stiffness;
if (mSim)
mSim->setLimitStiffness(stiffness);
}
PxReal Sc::ArticulationSpatialTendonCore::getLimitStiffness() const
{
return mLimitStiffness;
}
void Sc::ArticulationSpatialTendonCore::setOffset(const PxReal offset)
{
mOffset = offset;
if (mSim)
mSim->setOffset(offset);
}
PxReal Sc::ArticulationSpatialTendonCore::getOffset() const
{
return mOffset;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
void Sc::ArticulationFixedTendonCore::setStiffness(const PxReal stiffness)
{
mStiffness = stiffness;
if (mSim)
mSim->setStiffness(stiffness);
}
PxReal Sc::ArticulationFixedTendonCore::getStiffness() const
{
return mStiffness;
}
void Sc::ArticulationFixedTendonCore::setDamping(const PxReal damping)
{
mDamping = damping;
if (mSim)
mSim->setDamping(damping);
}
PxReal Sc::ArticulationFixedTendonCore::getDamping() const
{
return mDamping;
}
void Sc::ArticulationFixedTendonCore::setLimitStiffness(const PxReal stiffness)
{
mLimitStiffness = stiffness;
if (mSim)
mSim->setLimitStiffness(stiffness);
}
PxReal Sc::ArticulationFixedTendonCore::getLimitStiffness() const
{
return mLimitStiffness;
}
void Sc::ArticulationFixedTendonCore::setSpringRestLength(const PxReal restLength)
{
mRestLength = restLength;
if (mSim)
mSim->setSpringRestLength(restLength);
}
PxReal Sc::ArticulationFixedTendonCore::getSpringRestLength() const
{
return mRestLength;
}
void Sc::ArticulationFixedTendonCore::setLimitRange(const PxReal lowLimit, const PxReal highLimit)
{
mLowLimit = lowLimit;
mHighLimit = highLimit;
if (mSim)
mSim->setLimitRange(lowLimit, highLimit);
}
void Sc::ArticulationFixedTendonCore::getLimitRange(PxReal& lowLimit, PxReal& highLimit) const
{
lowLimit = mLowLimit;
highLimit = mHighLimit;
}
void Sc::ArticulationFixedTendonCore::setOffset(const PxReal offset)
{
mOffset = offset;
if (mSim)
mSim->setOffset(offset);
}
PxReal Sc::ArticulationFixedTendonCore::getOffset() const
{
return mOffset;
}