DyArticulationCore.h

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#ifndef DY_ARTICULATION_CORE_H
#define DY_ARTICULATION_CORE_H
 
#include "PxArticulationReducedCoordinate.h"
 
namespace physx
{
    namespace Dy
    {
        struct ArticulationCore
        {
            //= ATTENTION! =====================================================================================
            // Changing the data layout of this class breaks the binary serialization format.  See comments for 
            // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
            // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
            // accordingly.
            //==================================================================================================
// PX_SERIALIZATION
            ArticulationCore(const PxEMPTY) : flags(PxEmpty) {}
            ArticulationCore() {}
//~PX_SERIALIZATION
 
            PxU16                   solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
            PxArticulationFlags     flags;
            PxReal                  sleepThreshold;
            PxReal                  freezeThreshold;
            PxReal                  wakeCounter;
            PxU32                   gpuRemapIndex;
            PxReal                  maxLinearVelocity;
            PxReal                  maxAngularVelocity;
        };
 
        struct ArticulationJointCoreDirtyFlag
        {
            enum Enum
            {
                eNONE = 0,
                eMOTION = 1 << 0,
                eFRAME = 1 << 1,
                eTARGETPOSE = 1 << 2,
                eTARGETVELOCITY = 1 << 3,
                eARMATURE = 1 << 4,
                eLIMIT = 1 << 5,
                eDRIVE = 1 << 6,
                eJOINT_POS = 1 << 7,
                eJOINT_VEL = 1 << 8,
                eALL = eMOTION | eFRAME | eTARGETPOSE | eTARGETVELOCITY  | eARMATURE | eLIMIT | eDRIVE | eJOINT_POS | eJOINT_VEL
            };
        };
 
        typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
        PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
    }
}
 
#endif