124 lines
4.6 KiB
C
124 lines
4.6 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef SC_ARTICULATION_TENDON_SIM_H
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#define SC_ARTICULATION_TENDON_SIM_H
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#include "foundation/PxUserAllocated.h"
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#include "DyArticulationTendon.h"
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namespace physx
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{
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namespace Sc
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{
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class ArticulationFixedTendonCore;
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class ArticulationTendonJointCore;
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class ArticulationSpatialTendonCore;
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class ArticulationAttachmentCore;
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class Scene;
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class ArticulationJointCore;
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class ArticulationSim;
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class ArticulationSpatialTendonSim : public PxUserAllocated
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{
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PX_NOCOPY(ArticulationSpatialTendonSim)
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public:
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ArticulationSpatialTendonSim(ArticulationSpatialTendonCore& tendon, Scene& scene);
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virtual ~ArticulationSpatialTendonSim();
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void setStiffness(const PxReal stiffness);
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PxReal getStiffness() const;
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void setDamping(const PxReal damping);
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PxReal getDamping() const;
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void setLimitStiffness(const PxReal stiffness);
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PxReal getLimitStiffness() const;
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void setOffset(const PxReal offset);
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PxReal getOffset() const;
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void setAttachmentCoefficient(ArticulationAttachmentCore& core, const PxReal coefficient);
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void setAttachmentRelativeOffset(ArticulationAttachmentCore& core, const PxVec3& offset);
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void setAttachmentLimits(ArticulationAttachmentCore& core, const PxReal lowLimit, const PxReal highLimit);
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void setAttachmentRestLength(ArticulationAttachmentCore& core, const PxReal restLength);
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void addAttachment(ArticulationAttachmentCore& core);
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void removeAttachment(ArticulationAttachmentCore& core);
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Dy::ArticulationSpatialTendon mLLTendon;
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ArticulationSpatialTendonCore& mTendonCore;
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ArticulationSim* mArtiSim;
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Scene& mScene;
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};
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class ArticulationFixedTendonSim : public PxUserAllocated
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{
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PX_NOCOPY(ArticulationFixedTendonSim)
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public:
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ArticulationFixedTendonSim(ArticulationFixedTendonCore& tendon, Scene& scene);
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virtual ~ArticulationFixedTendonSim();
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void setStiffness(const PxReal stiffness);
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PxReal getStiffness() const;
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void setDamping(const PxReal damping);
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PxReal getDamping() const;
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void setLimitStiffness(const PxReal stiffness);
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PxReal getLimitStiffness() const;
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void setOffset(const PxReal offset);
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PxReal getOffset() const;
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void setSpringRestLength(const PxReal restLength);
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PxReal getSpringRestLength() const;
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void setLimitRange(const PxReal lowLimit, const PxReal highLimit);
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void getLimitRange(PxReal& lowLimit, PxReal& highLimit) const;
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void addTendonJoint(ArticulationTendonJointCore& tendonJointCore);
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void removeTendonJoint(ArticulationTendonJointCore& core);
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void setTendonJointCoefficient(ArticulationTendonJointCore& core, const PxArticulationAxis::Enum axis, const float coefficient, const float recipCoefficient);
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Dy::ArticulationFixedTendon mLLTendon;
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ArticulationFixedTendonCore& mTendonCore;
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ArticulationSim* mArtiSim;
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Scene& mScene;
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};
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}//namespace Sc
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}//namespace physx
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#endif
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