text: //
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  // Copyright (c) 2008-2018 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_SCP_ARTICULATION_CORE
  #define PX_PHYSICS_SCP_ARTICULATION_CORE
  
  #include "ScActorCore.h"
  #include "DyArticulation.h"
  #include "DyFeatherstoneArticulation.h"
  
  namespace physx
  {
  
  class PxvArticulation;
  
  namespace IG
  {
  	class NodeIndex;
  }
  
  
  namespace Sc
  {
  	typedef Dy::FsData ArticulationDriveCache;
  
  	class ArticulationSim;
  	class BodyCore;
  	class BodySim;
  
  	class 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.
  	//==================================================================================================
  
  		//---------------------------------------------------------------------------------
  		// Construction, destruction & initialization
  		//---------------------------------------------------------------------------------
  
  // PX_SERIALIZATION
  		public:
  													ArticulationCore(const PxEMPTY) : mSim(NULL)	{}
  		static		void							getBinaryMetaData(PxOutputStream& stream);
  //~PX_SERIALIZATION
  													ArticulationCore();
  													~ArticulationCore();
  
  		//---------------------------------------------------------------------------------
  		// External API
  		//---------------------------------------------------------------------------------
  						PxU32						getInternalDriveIterations() const; 
  						void						setInternalDriveIterations(const PxU32 v);
  
  						PxU32						getExternalDriveIterations() const; 
  						void						setExternalDriveIterations(const PxU32 v);
  
  						PxU32						getMaxProjectionIterations() const; 
  						void						setMaxProjectionIterations(const PxU32 v);
  
  						PxReal						getSeparationTolerance() const; 
  						void						setSeparationTolerance(const PxReal v);
  
  						PxReal						getSleepThreshold() const; 
  						void						setSleepThreshold(const PxReal v);
  
  						PxReal						getFreezeThreshold() const; 
  						void						setFreezeThreshold(const PxReal v);
  
  						PxReal						getWakeCounter() const; 
  						void						setWakeCounter(const PxReal v);
  						void						setWakeCounterInternal(const PxReal v);
  
  						bool						isSleeping() const;
  						void						wakeUp(PxReal wakeCounter);
  						void						putToSleep();
  
  						PxU16						getSolverIterationCounts()	const;
  						void						setSolverIterationCounts(PxU16 c);
  
  						PxArticulation*				getPxArticulation();
  						const PxArticulation*		getPxArticulation() const;
  
  
  		//---------------------------------------------------------------------------------
  		// Drive Cache API
  		//---------------------------------------------------------------------------------
  						ArticulationDriveCache*		createDriveCache(PxReal compliance,
  																	 PxU32 driveIterations) const;
  
  						void						updateDriveCache(ArticulationDriveCache& cache,
  																	 PxReal compliance,
  																	 PxU32 driveIterations) const;
  
  						void						releaseDriveCache(ArticulationDriveCache& cache) const;
  
  						PxU32						getCacheLinkCount(const ArticulationDriveCache& cache) const;
  
  						void						applyImpulse(BodyCore& link,
  																 const ArticulationDriveCache& driveCache,
  																 const PxVec3& force,
  																 const PxVec3& torque);
  
  						void						computeImpulseResponse(BodyCore& link,
  																		   PxVec3& linearResponse, 
  																		   PxVec3& angularResponse,
  																		   const ArticulationDriveCache& driveCache,
  																		   const PxVec3& force,
  																		   const PxVec3& torque) const;
  
  		//---------------------------------------------------------------------------------
  		// external reduced coordinate API
  		//---------------------------------------------------------------------------------
  						void						setArticulationFlags(PxArticulationFlags flags) { mCore.flags = flags; }
  						PxArticulationFlags			getArticulationFlags() const { return mCore.flags; }
  
  						PxU32						getDofs() const;
  
  						PxArticulationCache*		createCache() const;
  
  						PxU32						getCacheDataSize() const;
  
  						void						zeroCache(PxArticulationCache& cache) const;
  
  						void						applyCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag)const;
  		
  						void						copyInternalStateToCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag) const;
  
  						void						releaseCache(PxArticulationCache& cache) const;
  
  						void						packJointData(const PxReal* maximum, PxReal* reduced) const;
  
  						void						unpackJointData(const PxReal* reduced, PxReal* maximum) const;
  
  						void						commonInit() const;
  
  						void						computeGeneralizedGravityForce(PxArticulationCache& cache) const;
  
  						void						computeCoriolisAndCentrifugalForce(PxArticulationCache& cache) const;
  
  						void						computeGeneralizedExternalForce(PxArticulationCache& cache) const;
  
  						void						computeJointAcceleration(PxArticulationCache& cache) const;
  
  						void						computeJointForce(PxArticulationCache& cache) const;
  
  						void						computeKinematicJacobian(const PxU32 linkID, PxArticulationCache& cache) const;
  
  						void						computeCoefficentMatrix(PxArticulationCache& cache) const;
  
  						bool						computeLambda(PxArticulationCache& cache, PxArticulationCache& rollBackCache, const PxReal* const jointTorque, const PxVec3 gravity, const PxU32 maxIter) const;
  
  						void						computeGeneralizedMassMatrix(PxArticulationCache& cache) const;
  
  						PxU32						getCoefficentMatrixSize() const;
  		//---------------------------------------------------------------------------------
  		// Internal API
  		//---------------------------------------------------------------------------------
  	public:
  		PX_FORCE_INLINE	void						setSim(ArticulationSim* sim)
  													{
  														PX_ASSERT((sim==0) ^ (mSim == 0));
  														mSim = sim;
  													}
  		PX_FORCE_INLINE	ArticulationSim*			getSim()			const	{ return mSim;			}
  
  		PX_FORCE_INLINE	const Dy::ArticulationCore&	getCore()					{ return mCore;			}
  
  		static PX_FORCE_INLINE ArticulationCore&	getArticulationCore(ArticulationCore& core)
  		{
  			size_t offset = PX_OFFSET_OF(ArticulationCore, mCore);
  			return *reinterpret_cast<ArticulationCore*>(reinterpret_cast<PxU8*>(&core) - offset);
  		}
  
  		PX_INLINE		PxArticulationBase::Enum		getArticulationType() const { return PxArticulationBase::Enum(mType); }
  		PX_INLINE		void							setArticulationType(PxArticulationBase::Enum type) { mType = type; }
  
  
  		IG::NodeIndex getIslandNodeIndex() const;
  
  		void setGlobalPose();
  
  		void setDirty(const bool dirty);
  
  
  	private:
  						ArticulationSim*				mSim;
  						Dy::ArticulationCore			mCore;
  						PxU32							mType;
  	};
  
  
  
  } // namespace Sc
  
  }
  
  #endif
  