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29
30
31#ifndef PXDV_ARTICULATION_CORE_H
32#define PXDV_ARTICULATION_CORE_H
33
34#include "PxArticulationReducedCoordinate.h"
35
36namespace physx
37{
38 namespace Dy
39 {
40 struct ArticulationCore
41 {
42 //= ATTENTION! =====================================================================================
43 // Changing the data layout of this class breaks the binary serialization format. See comments for
44 // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
45 // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
46 // accordingly.
47 //==================================================================================================
48
49 PxU32 internalDriveIterations;
50 PxU32 externalDriveIterations;
51 PxU32 maxProjectionIterations;
52 PxU16 solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
53 PxReal separationTolerance;
54 PxReal sleepThreshold;
55 PxReal freezeThreshold;
56 PxReal wakeCounter;
57 PxArticulationFlags flags;
58 };
59
60 struct ArticulationJointCoreDirtyFlag
61 {
62 enum Enum
63 {
64 eNONE = 0,
65 eMOTION = 1 << 0,
66 ePOSE = 1 << 1,
67 eTARGETPOSE = 1 << 2,
68 eTARGETVELOCITY = 1 << 3,
69 eLIMIT = 1 << 4,
70 eDRIVE = 1 << 5,
71 eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY
72 };
73 };
74
75 typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
76 PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
77 }
78}
79
80#endif
81
82

source code of qtquick3dphysics/src/3rdparty/PhysX/source/lowleveldynamics/include/DyArticulationCore.h