text: //
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  //    from this software without specific prior written permission.
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  //
  // Copyright (c) 2008-2019 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 PX_PHYSICS_NP_ARTICULATION
  #define PX_PHYSICS_NP_ARTICULATION
  
  #include "PxArticulation.h"
  #include "CmPhysXCommon.h"
  
  #if PX_ENABLE_DEBUG_VISUALIZATION
  #include "CmRenderOutput.h"
  #endif
  
  #include "ScbArticulation.h"
  #include "NpArticulationLink.h"
  #include "NpArticulationTemplate.h"
  #include "NpArticulationJoint.h"
  
  namespace physx
  {
  
  class NpArticulationLink;
  class NpScene;
  class NpAggregate;
  class PxAggregate;
  
  #if PX_VC
  #pragma warning(push)
  #pragma warning(disable:4250)
  #endif
  
  
  class NpArticulation : public NpArticulationTemplate<PxArticulation>
  {
  //= 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.
  //==================================================================================================
  
  public:
  	virtual								~NpArticulation();
  
  // PX_SERIALIZATION
  										NpArticulation(PxBaseFlags baseFlags) : NpArticulationTemplate(baseFlags){}
  	static	NpArticulation*				createObject(PxU8*& address, PxDeserializationContext& context);
  	static	void						getBinaryMetaData(PxOutputStream& stream);
  //~PX_SERIALIZATION
  
  	//---------------------------------------------------------------------------------
  	// PxArticulation implementation
  	//---------------------------------------------------------------------------------
  
  	virtual	PxU32						getInternalDriveIterations() const;
  	virtual	void						setInternalDriveIterations(PxU32 iterations);
  
  	virtual	PxU32						getExternalDriveIterations() const;
  	virtual	void						setExternalDriveIterations(PxU32 iterations);
  
  	virtual	PxU32						getMaxProjectionIterations() const;
  	virtual	void						setMaxProjectionIterations(PxU32 iterations);
  
  	virtual	PxReal						getSeparationTolerance() const;
  	virtual	void						setSeparationTolerance(PxReal tolerance);
  
  
  	virtual	PxArticulationDriveCache*	createDriveCache(PxReal compliance, PxU32 driveIterations) const;
  
  	virtual	void						updateDriveCache(PxArticulationDriveCache& cache, PxReal compliance, PxU32 driveIterations) const;
  
  	virtual	void						releaseDriveCache(PxArticulationDriveCache&) const;
  
  	virtual	void						applyImpulse(	PxArticulationLink*,
  														const PxArticulationDriveCache& driveCache,
  														const PxVec3& force,
  														const PxVec3& torque);
  
  	virtual	void						computeImpulseResponse(	PxArticulationLink*,
  																PxVec3& linearResponse, 
  																PxVec3& angularResponse,
  																const PxArticulationDriveCache& driveCache,
  																const PxVec3& force,
  																const PxVec3& torque) const;
  
  	virtual	const char*					getConcreteTypeName()	const	{ return "PxArticulation"; }
  
  	//---------------------------------------------------------------------------------
  	// Miscellaneous
  	//---------------------------------------------------------------------------------
  										NpArticulation();
  
  	virtual	bool						isKindOf(const char* name)	const { return !::strcmp("PxArticulation", name) || PxBase::isKindOf(name); }
  
  private:
  	virtual PxArticulationJointBase*	createArticulationJoint(PxArticulationLink& parent, const PxTransform& parentFrame, PxArticulationLink& child, const PxTransform& childFrame);
  	virtual	void						releaseArticulationJoint(PxArticulationJointBase* joint);
  };
  
  #if PX_VC
  #pragma warning(pop)
  #endif
  
  }
  
  #endif
  