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// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
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// * Redistributions of source code must retain the above copyright
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// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#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