text: //
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  // Copyright (c) 2008-2021 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 NP_DISTANCEJOINTCONSTRAINT_H
  #define NP_DISTANCEJOINTCONSTRAINT_H
  
  #include "common/PxTolerancesScale.h"
  #include "extensions/PxDistanceJoint.h"
  
  #include "CmUtils.h"
  #include "ExtJoint.h"
  #include "PsUserAllocated.h"
  
  namespace physx {
  struct PxDistanceJointGeneratedValues;
  namespace Ext {
  
  struct DistanceJointData : public JointData {
    //= 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.
    //==================================================================================================
  
    PxReal minDistance;
    PxReal maxDistance;
    PxReal tolerance;
    PxReal stiffness;
    PxReal damping;
  
    PxDistanceJointFlags jointFlags;
  };
  
  typedef Joint<PxDistanceJoint, PxDistanceJointGeneratedValues> DistanceJointT;
  class DistanceJoint : public DistanceJointT {
    //= 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:
    // PX_SERIALIZATION
    DistanceJoint(PxBaseFlags baseFlags) : DistanceJointT(baseFlags) {}
    virtual void exportExtraData(PxSerializationContext &context);
    void importExtraData(PxDeserializationContext &context);
    void resolveReferences(PxDeserializationContext &context);
    static DistanceJoint *createObject(PxU8 *&address, PxDeserializationContext &context);
    static void getBinaryMetaData(PxOutputStream &stream);
    //~PX_SERIALIZATION
  
    DistanceJoint(const PxTolerancesScale &scale, PxRigidActor *actor0, const PxTransform &localFrame0,
                  PxRigidActor *actor1, const PxTransform &localFrame1)
        : DistanceJointT(PxJointConcreteType::eDISTANCE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0,
                         localFrame0, actor1, localFrame1, sizeof(DistanceJointData), "DistanceJointData") {
      DistanceJointData *data = static_cast<DistanceJointData *>(mData);
  
      data->stiffness = 0.0f;
      data->damping = 0.0f;
      data->minDistance = 0.0f;
      data->maxDistance = 0.0f;
      data->tolerance = 0.025f * scale.length;
      data->jointFlags = PxDistanceJointFlag::eMAX_DISTANCE_ENABLED;
    }
  
    // PxDistanceJoint
    virtual PxReal getDistance() const;
    virtual void setMinDistance(PxReal distance);
    virtual PxReal getMinDistance() const;
    virtual void setMaxDistance(PxReal distance);
    virtual PxReal getMaxDistance() const;
    virtual void setTolerance(PxReal tolerance);
    virtual PxReal getTolerance() const;
    virtual void setStiffness(PxReal spring);
    virtual PxReal getStiffness() const;
    virtual void setDamping(PxReal damping);
    virtual PxReal getDamping() const;
    virtual void setDistanceJointFlags(PxDistanceJointFlags flags);
    virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value);
    virtual PxDistanceJointFlags getDistanceJointFlags() const;
    //~PxDistanceJoint
  
    bool attach(PxPhysics &physics, PxRigidActor *actor0, PxRigidActor *actor1);
  
    static const PxConstraintShaderTable &getConstraintShaderTable() { return sShaders; }
  
    virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
  
  private:
    static PxConstraintShaderTable sShaders;
  
    PX_FORCE_INLINE DistanceJointData &data() const { return *static_cast<DistanceJointData *>(mData); }
  };
  
  } // namespace Ext
  
  namespace Ext {
  // global function to share the joint shaders with API capture
  extern "C" const PxConstraintShaderTable *GetDistanceJointShaderTable();
  } // namespace Ext
  
  } // namespace physx
  
  #endif
  