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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 "ScArticulationJointSim.h"
#include "ScArticulationJointCore.h"
#include "ScBodySim.h"
#include "ScArticulationSim.h"
#include "ScArticulationCore.h"
using namespace physx;
Sc::ArticulationJointSim::ArticulationJointSim(ArticulationJointCore& joint, ActorSim& parent, ActorSim& child) :
Interaction (parent, child, InteractionType::eARTICULATION, 0),
mCore (joint)
{
{
onActivate();
registerInActors();
}
BodySim& childBody = static_cast<BodySim&>(child),
& parentBody = static_cast<BodySim&>(parent);
parentBody.getArticulation()->addBody(childBody, &parentBody, this);
mCore.setSim(this);
}
Sc::ArticulationJointSim::~ArticulationJointSim()
{
// articulation interactions do not make use of the dirty flags yet. If they did, a setClean(true) has to be introduced here.
PX_ASSERT(!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST));
PX_ASSERT(!getDirtyFlags());
unregisterFromActors();
mCore.setSim(NULL);
}
Sc::BodySim& Sc::ArticulationJointSim::getParent() const
{
return static_cast<BodySim&>(getActorSim0());
}
Sc::BodySim& Sc::ArticulationJointSim::getChild() const
{
return static_cast<BodySim&>(getActorSim1());
}
bool Sc::ArticulationJointSim::onActivate()
{
if(!(getParent().isActive() && getChild().isActive()))
return false;
raiseInteractionFlag(InteractionFlag::eIS_ACTIVE);
return true;
}
bool Sc::ArticulationJointSim::onDeactivate()
{
clearInteractionFlag(InteractionFlag::eIS_ACTIVE);
return true;
}
void Sc::ArticulationJointSim::setDirty()
{
Dy::ArticulationJointCore& llCore = mCore.getCore();
ArticulationSim* sim = mCore.getArticulation()->getSim();
sim->setJointDirty(llCore);
}