ScArticulationTendonJointCore.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
 
#ifndef SC_TENDON_JOINT_CORE_H
#define SC_TENDON_JOINT_CORE_H
 
#include "foundation/PxVec3.h"
#include "solver/PxSolverDefs.h"
 
namespace physx
{
    namespace Sc
    {
        class ArticulationFixedTendonSim;
 
        class ArticulationTendonJointCore
        {
        public:
 
            // PX_SERIALIZATION
            ArticulationTendonJointCore(const PxEMPTY) : mTendonSim(NULL) {}
            void preExportDataReset() { }
            static void getBinaryMetaData(PxOutputStream& stream);
            //~PX_SERIALIZATION
 
            ArticulationTendonJointCore()
            {
                coefficient = PX_MAX_F32;
                recipCoefficient = PX_MAX_F32;
            }
 
            PX_FORCE_INLINE PxArticulationAxis::Enum getAxis()
            {
                return axis;
            }
 
            PX_FORCE_INLINE void getCoefficient(PxArticulationAxis::Enum& axis_, PxReal& coefficient_, PxReal& recipCoefficient_) const
            {
                axis_ = axis;
                coefficient_ = coefficient;
                recipCoefficient_ = recipCoefficient;
            }
 
            void setCoefficient(PxArticulationAxis::Enum axis_, const PxReal coefficient_, const PxReal recipCoefficient_);
 
 
            PxArticulationAxis::Enum            axis;
            PxReal                              coefficient;
            PxReal                              recipCoefficient;
            PxU32                               mLLLinkIndex;
            ArticulationTendonJointCore*        mParent;
            PxU32                               mLLTendonJointIndex;
            Sc::ArticulationFixedTendonSim*     mTendonSim;
        };
    }//namespace Sc
}//namespace physx
 
#endif