86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
// 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_MIMIC_JOINT_SIM_H
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#define SC_ARTICULATION_MIMIC_JOINT_SIM_H
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#include "foundation/PxUserAllocated.h"
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#include "PxArticulationReducedCoordinate.h"
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#include "DyFeatherstoneArticulation.h"
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#include "DyArticulationMimicJointCore.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 Scene;
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class ArticulationMimicJointCore;
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class ArticulationCore;
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class ArticulationSim;
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class ArticulationMimicJointSim : public PxUserAllocated
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{
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PX_NOCOPY(ArticulationMimicJointSim)
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public:
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ArticulationMimicJointSim(Sc::ArticulationMimicJointCore& core, Sc::Scene& scene);
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~ArticulationMimicJointSim();
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PX_FORCE_INLINE Sc::Scene& getScene() { return mScene; }
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PX_FORCE_INLINE const Sc::Scene& getScene() const { return mScene; }
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PX_FORCE_INLINE void setLowLevelIndex(const PxU32 llIndex) { mLLIndex = llIndex;}
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PX_FORCE_INLINE PxU32 getLowLevelIndex() const { return mLLIndex; }
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PX_FORCE_INLINE Sc::ArticulationMimicJointCore& getCore() { return mCore; }
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PX_FORCE_INLINE const Sc::ArticulationMimicJointCore& getCore() const { return mCore; }
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PX_FORCE_INLINE Dy::ArticulationMimicJointCore& getLLMimicJoint() { return mLLMimicJoint; }
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void setGearRatio(const PxReal gearRatio);
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void setOffset(const PxReal offset);
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void setNaturalFrequency(const PxReal naturalFrequency);
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void setDampingRatio(const PxReal dampingRatio);
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Sc::Scene& mScene;
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Sc::ArticulationMimicJointCore& mCore;
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Sc::ArticulationSim* mArticulationSim;
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Dy::ArticulationMimicJointCore mLLMimicJoint;
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PxU32 mLLIndex;
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};
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}
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}
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#endif //SC_ARTICULATION_MIMIC_JOINT_SIM_H
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