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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 PX_ARTICULATION_FLAG_H
#define PX_ARTICULATION_FLAG_H
#include "PxPhysXConfig.h"
#include "foundation/PxFlags.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief These flags determine what data is read or written to the internal articulation data via cache.
\see PxArticulationCache PxArticulationReducedCoordinate::copyInternalStateToCache PxArticulationReducedCoordinate::applyCache
*/
class PxArticulationCacheFlag
{
public:
enum Enum
{
eVELOCITY = (1 << 0), //!< The joint velocities, see PxArticulationCache::jointVelocity.
eACCELERATION = (1 << 1), //!< The joint accelerations, see PxArticulationCache::jointAcceleration.
ePOSITION = (1 << 2), //!< The joint positions, see PxArticulationCache::jointPosition.
eFORCE = (1 << 3), //!< The joint forces, see PxArticulationCache::jointForce.
eLINK_VELOCITY = (1 << 4), //!< The link velocities, see PxArticulationCache::linkVelocity. Link velocities cannot be set except for the root link velocity via PxArticulationCache::rootLinkData.
eLINK_ACCELERATION = (1 << 5), //!< The link accelerations, see PxArticulationCache::linkAcceleration.
eROOT_TRANSFORM = (1 << 6), //!< The root link transform, see PxArticulationCache::rootLinkData.
eROOT_VELOCITIES = (1 << 7), //!< The root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
eLINK_INCOMING_JOINT_FORCE = (1 << 10), //!< The link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
eJOINT_TARGET_POSITIONS = (1 << 11), //!< The joint target positions, see PxArticulationCache::jointTargetPositions.
eJOINT_TARGET_VELOCITIES = (1 << 12), //!< The joint target velocities, see PxArticulationCache::jointTargetVelocities.
eLINK_FORCE = (1 << 13), //!< The link forces, see PxArticulationCache::linkForce.
eLINK_TORQUE = (1 << 14), //!< The link torques, see PxArticulationCache::linkTorque.
eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
};
};
typedef PxFlags<PxArticulationCacheFlag::Enum, PxU32> PxArticulationCacheFlags;
PX_FLAGS_OPERATORS(PxArticulationCacheFlag::Enum, PxU32)
#if !PX_DOXYGEN
}
#endif
#endif