//
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//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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//    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
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// (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) 2008-2019 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_SCB_ARTICULATION_JOINT
#define PX_PHYSICS_SCB_ARTICULATION_JOINT

#include "ScArticulationJointCore.h"
#include "ScbArticulation.h"
#include "ScbBody.h"
#include "ScbBase.h"
#include "ScbDefs.h"

namespace physx
{
namespace Scb
{

struct ArticulationJointBuffer
{
#ifdef USE_NEW_SYSTEM
	PxTransform	mParentPose;
	PxTransform	mChildPose;
	PxQuat		mTargetOrientation;
	PxVec3		mTargetVelocity;
	PxReal		mStiffness;
	PxReal		mDamping;
	PxReal		mInternalCompliance;
	PxReal		mExternalCompliance;
	PxReal		mSwingLimitContactDistance;
	bool		mSwingLimitEnabled;
	PxReal		mTangentialStiffness;
	PxReal		mTangentialDamping;
	PxReal		mTwistLimitContactDistance;
	bool		mTwistLimitEnabled;
	PxArticulationJointDriveType::Enum	mDriveType;
#else
	template <PxU32 I, PxU32 Dummy> struct Fns {};
	typedef Sc::ArticulationJointCore Core;
	typedef ArticulationJointBuffer Buf;

	SCB_REGULAR_ATTRIBUTE(0,  PxTransform,	ParentPose)
	SCB_REGULAR_ATTRIBUTE(1,  PxTransform,	ChildPose)
	SCB_REGULAR_ATTRIBUTE(2,  PxQuat,		TargetOrientation)
	SCB_REGULAR_ATTRIBUTE(3,  PxVec3,		TargetVelocity)
	SCB_REGULAR_ATTRIBUTE(4,  PxReal,		Stiffness)
	SCB_REGULAR_ATTRIBUTE(5,  PxReal,		Damping)
	SCB_REGULAR_ATTRIBUTE(6,  PxReal,		FrictionCoefficient)
	SCB_REGULAR_ATTRIBUTE(7,  PxReal,		MaxJointVelocity)
	SCB_REGULAR_ATTRIBUTE(8,  PxReal,		InternalCompliance)
	SCB_REGULAR_ATTRIBUTE(9,  PxReal,		ExternalCompliance)
	SCB_REGULAR_ATTRIBUTE(10,  PxReal,		SwingLimitContactDistance)
	SCB_REGULAR_ATTRIBUTE(11,  bool,		SwingLimitEnabled)
	SCB_REGULAR_ATTRIBUTE(12, PxReal,		TangentialStiffness)
	SCB_REGULAR_ATTRIBUTE(13, PxReal,		TangentialDamping)
	SCB_REGULAR_ATTRIBUTE(14, PxReal,		TwistLimitContactDistance)
	SCB_REGULAR_ATTRIBUTE(15, bool,			TwistLimitEnabled)
	SCB_REGULAR_ATTRIBUTE(16, PxArticulationJointDriveType::Enum, DriveType)

	enum	{ BF_SwingLimit = 1<<17 };
	enum	{ BF_TwistLimit = 1<<18 };
#endif
	SCB_REGULAR_ATTRIBUTE(19, PxArticulationJointType::Enum, JointType)

	PxReal				mSwingLimitY;
	PxReal				mSwingLimitZ;
	PxReal				mTwistLimitLower;
	PxReal				mTwistLimitUpper;

	PxArticulationLimit	mLimits[PxArticulationAxis::eCOUNT];
	PxArticulationDrive	mDrives[PxArticulationAxis::eCOUNT];
	PxReal				mTargetP[PxArticulationAxis::eCOUNT];
	PxReal				mTargetV[PxArticulationAxis::eCOUNT];

	//Joint limit/drive/whatever flags
	enum
	{
		BF_Limits = 1 << 20,
		BF_Drives = 1 << 21,
		BF_Targets = 1 << 22,
		BF_Motion = 1 << 23
	};

	PxArticulationMotion::Enum mMotion[PxArticulationAxis::eCOUNT];

	PxU32				mJointBufferFlags;
};
	
class ArticulationJoint : public Base
{
//= 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.
//==================================================================================================

	typedef ArticulationJointBuffer Buf;
	typedef Sc::ArticulationJointCore Core;

public:
// PX_SERIALIZATION
										ArticulationJoint(const PxEMPTY) : Base(PxEmpty), mJoint(PxEmpty)	{}
				void					preExportDataReset() { mJoint.preExportDataReset(); }
	static		void					getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION

	PX_INLINE							ArticulationJoint( const PxTransform& parentFrame,
														   const PxTransform& childFrame,
														   bool reducedCoordinate);
	PX_INLINE							~ArticulationJoint();

	//---------------------------------------------------------------------------------
	// Wrapper for Sc::ArticulationJoint interface
	//---------------------------------------------------------------------------------

#ifdef USE_NEW_SYSTEM
	SCB_MEMBER(ArticulationJoint, mJoint, ParentPose, PxTransform, 0)
	SCB_MEMBER(ArticulationJoint, mJoint, ChildPose, PxTransform, 1)
	SCB_MEMBER(ArticulationJoint, mJoint, TargetOrientation, PxQuat, 2)
	SCB_MEMBER(ArticulationJoint, mJoint, TargetVelocity, PxVec3, 3)
	SCB_MEMBER(ArticulationJoint, mJoint, Stiffness, PxReal, 4)
	SCB_MEMBER(ArticulationJoint, mJoint, Damping, PxReal, 5)
	SCB_MEMBER(ArticulationJoint, mJoint, InternalCompliance, PxReal, 6)
	SCB_MEMBER(ArticulationJoint, mJoint, ExternalCompliance, PxReal, 7)
	SCB_MEMBER(ArticulationJoint, mJoint, SwingLimitContactDistance, PxReal, 8)
	SCB_MEMBER(ArticulationJoint, mJoint, SwingLimitEnabled, bool, 9)
	SCB_MEMBER(ArticulationJoint, mJoint, TangentialStiffness, PxReal, 10)
	SCB_MEMBER(ArticulationJoint, mJoint, TangentialDamping, PxReal, 11)
	SCB_MEMBER(ArticulationJoint, mJoint, TwistLimitContactDistance, PxReal, 12)
	SCB_MEMBER(ArticulationJoint, mJoint, TwistLimitEnabled, bool, 13)
	SCB_MEMBER(ArticulationJoint, mJoint, DriveType, PxArticulationJointDriveType::Enum, 14)
#else
	PX_INLINE PxTransform				getParentPose() const					{ return read<Buf::BF_ParentPose>(); }
	PX_INLINE void						setParentPose(const PxTransform& v)		{ write<Buf::BF_ParentPose>(v); }

	PX_INLINE PxTransform				getChildPose() const					{ return read<Buf::BF_ChildPose>(); }
	PX_INLINE void						setChildPose(const PxTransform& v)		{ write<Buf::BF_ChildPose>(v); }

	PX_INLINE PxQuat					getTargetOrientation() const			{ return read<Buf::BF_TargetOrientation>(); }
	PX_INLINE void						setTargetOrientation(const PxQuat& v)	{ write<Buf::BF_TargetOrientation>(v); }

	PX_INLINE PxVec3					getTargetVelocity() const				{ return read<Buf::BF_TargetVelocity>(); }
	PX_INLINE void						setTargetVelocity(const PxVec3& v)		{ write<Buf::BF_TargetVelocity>(v); }

	PX_INLINE PxReal					getStiffness() const					{ return read<Buf::BF_Stiffness>(); }
	PX_INLINE void						setStiffness(PxReal v)					{ write<Buf::BF_Stiffness>(v); }

	PX_INLINE PxReal					getDamping() const						{ return read<Buf::BF_Damping>(); }
	PX_INLINE void						setDamping(PxReal v)					{ write<Buf::BF_Damping>(v); }

	PX_INLINE PxReal					getInternalCompliance() const			{ return read<Buf::BF_InternalCompliance>(); }
	PX_INLINE void						setInternalCompliance(PxReal v)			{ write<Buf::BF_InternalCompliance>(v); }

	PX_INLINE PxReal					getExternalCompliance() const			{ return read<Buf::BF_ExternalCompliance>(); }
	PX_INLINE void						setExternalCompliance(PxReal v)			{ write<Buf::BF_ExternalCompliance>(v); }

	PX_INLINE PxReal					getTangentialStiffness() const 			{ return read<Buf::BF_TangentialStiffness>(); }
	PX_INLINE void						setTangentialStiffness(PxReal v)		{ write<Buf::BF_TangentialStiffness>(v); }

	PX_INLINE PxReal					getTangentialDamping() const			{ return read<Buf::BF_TangentialDamping>(); }
	PX_INLINE void						setTangentialDamping(PxReal v)			{ write<Buf::BF_TangentialDamping>(v); }

	PX_INLINE PxReal					getSwingLimitContactDistance() const	{ return read<Buf::BF_SwingLimitContactDistance>(); }
	PX_INLINE void						setSwingLimitContactDistance(PxReal v)	{ write<Buf::BF_SwingLimitContactDistance>(v); }

	PX_INLINE PxReal					getTwistLimitContactDistance() const	{ return read<Buf::BF_TwistLimitContactDistance>(); }
	PX_INLINE void						setTwistLimitContactDistance(PxReal v)  { write<Buf::BF_TwistLimitContactDistance>(v); }

	PX_INLINE PxArticulationJointDriveType::Enum
										getDriveType() const					{ return read<Buf::BF_DriveType>(); }
	PX_INLINE void						setDriveType(PxArticulationJointDriveType::Enum v) 
																				{ write<Buf::BF_DriveType>(v); }

	PX_INLINE bool						getSwingLimitEnabled() const			{ return read<Buf::BF_SwingLimitEnabled>(); }
	PX_INLINE void						setSwingLimitEnabled(bool v)			{ write<Buf::BF_SwingLimitEnabled>(v); }

	PX_INLINE bool						getTwistLimitEnabled() const			{ return read<Buf::BF_TwistLimitEnabled>(); }
	PX_INLINE void						setTwistLimitEnabled(bool v)			{ write<Buf::BF_TwistLimitEnabled>(v); }
#endif

	PX_INLINE void						getSwingLimit(PxReal& yLimit, PxReal& zLimit) const;
	PX_INLINE void						setSwingLimit(PxReal yLimit, PxReal zLimit);

	PX_INLINE void						getTwistLimit(PxReal &lower, PxReal &upper) const;
	PX_INLINE void						setTwistLimit(PxReal lower, PxReal upper);

	PX_INLINE void						setLimit(PxArticulationAxis::Enum axis, PxReal lower, PxReal upper);
	PX_INLINE void						getLimit(PxArticulationAxis::Enum axis, PxReal& lower, PxReal& upper) const;

	PX_INLINE void						setDrive(PxArticulationAxis::Enum axis, PxReal stiffness, PxReal damping, PxReal maxForce, PxArticulationDriveType::Enum driveType);
	PX_INLINE void						getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) const;

	PX_INLINE void						setDriveTarget(PxArticulationAxis::Enum axis, PxReal targetP);
	PX_INLINE PxReal					getDriveTarget(PxArticulationAxis::Enum axis) const;

	PX_INLINE void						setDriveVelocity(PxArticulationAxis::Enum axis, PxReal targetV);
	PX_INLINE PxReal					getDriveVelocity(PxArticulationAxis::Enum axis) const;

	PX_INLINE PxArticulationJointType::Enum
										getJointType() const { return read<Buf::BF_JointType>(); }
	PX_INLINE void						setJointType(PxArticulationJointType::Enum v) { write<Buf::BF_JointType>(v); }

	PX_INLINE PxArticulationMotion::Enum	
										getMotion(PxArticulationAxis::Enum axis) const;
	PX_INLINE void						setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion);

	PX_INLINE PxReal					getFrictionCoefficient() const { return read<Buf::BF_FrictionCoefficient>(); }
	PX_INLINE void						setFrictionCoefficient(const PxReal u) { write<Buf::BF_FrictionCoefficient>(u); }

	PX_INLINE PxReal					getMaxJointVelocity() const { return read<Buf::BF_MaxJointVelocity>();  }
	PX_INLINE void						setMaxJointVelocity(const PxReal maxJointV) { write<Buf::BF_MaxJointVelocity>(maxJointV); }

	//---------------------------------------------------------------------------------
	// Data synchronization
	//---------------------------------------------------------------------------------
	PX_INLINE void						syncState();

	PX_FORCE_INLINE const Core&			getScArticulationJoint()		const	{ return mJoint; }  // Only use if you know what you're doing!
	PX_FORCE_INLINE Core&				getScArticulationJoint()				{ return mJoint; }  // Only use if you know what you're doing!


	static			size_t				getScOffset()							{ return reinterpret_cast<size_t>(&reinterpret_cast<ArticulationJoint*>(0)->mJoint);	}

	PX_FORCE_INLINE void				setScArticulation(Scb::Articulation* articulation)	{ mJoint.setArticulation(&articulation->getScArticulation()); }

	PX_FORCE_INLINE const Sc::ArticulationCore* 
										getScArticulation() const 							{ return mJoint.getArticulation(); }

private:
					Core				mJoint;

	PX_FORCE_INLINE	const Buf*			getBuffer()	const	{ return reinterpret_cast<const Buf*>(getStream()); }
	PX_FORCE_INLINE	Buf*				getBuffer()			{ return reinterpret_cast<Buf*>(getStream()); }

#ifndef USE_NEW_SYSTEM
	//---------------------------------------------------------------------------------
	// Infrastructure for regular attributes
	//---------------------------------------------------------------------------------

	struct Access: public BufferedAccess<Buf, Core, ArticulationJoint> {};
	template<PxU32 f> PX_FORCE_INLINE typename Buf::Fns<f,0>::Arg read() const		{	return Access::read<Buf::Fns<f,0> >(*this, mJoint);	}
	template<PxU32 f> PX_FORCE_INLINE void write(typename Buf::Fns<f,0>::Arg v)		{	Access::write<Buf::Fns<f,0> >(*this, mJoint, v);	}
	template<PxU32 f> PX_FORCE_INLINE void flush(const Buf& buf)					{	Access::flush<Buf::Fns<f,0> >(*this, mJoint, buf);	}
#endif
};

ArticulationJoint::ArticulationJoint(const PxTransform& parentFrame, const PxTransform& childFrame, bool reducedCoordinate) :
	mJoint(parentFrame, childFrame, reducedCoordinate)
{
	setScbType(ScbType::eARTICULATION_JOINT);
}

ArticulationJoint::~ArticulationJoint()
{
}

PX_INLINE void ArticulationJoint::getSwingLimit(PxReal &yLimit, PxReal &zLimit) const
{
	if(isBuffered(Buf::BF_SwingLimit))
	{
		yLimit = getBuffer()->mSwingLimitY;
		zLimit = getBuffer()->mSwingLimitZ;
	}
	else
		mJoint.getSwingLimit(yLimit, zLimit);
}

PX_INLINE void ArticulationJoint::setSwingLimit(PxReal yLimit, PxReal zLimit)
{
	if(!isBuffering())
		mJoint.setSwingLimit(yLimit, zLimit);
	else
	{
		getBuffer()->mSwingLimitY = yLimit;
		getBuffer()->mSwingLimitZ = zLimit;
		markUpdated(Buf::BF_SwingLimit);
	}
}

PX_INLINE void ArticulationJoint::getTwistLimit(PxReal &lower, PxReal &upper) const
{
	if(isBuffered(Buf::BF_TwistLimit))
	{
		lower = getBuffer()->mTwistLimitLower;
		upper = getBuffer()->mTwistLimitUpper;
	}
	else
		mJoint.getTwistLimit(lower, upper);
}

PX_INLINE void ArticulationJoint::setTwistLimit(PxReal lower, PxReal upper)
{
	if(!isBuffering())
		mJoint.setTwistLimit(lower, upper);
	else
	{
		getBuffer()->mTwistLimitLower = lower;
		getBuffer()->mTwistLimitUpper = upper;
		markUpdated(Buf::BF_TwistLimit);
	}
}

PX_INLINE void ArticulationJoint::setLimit(PxArticulationAxis::Enum axis, PxReal lower, PxReal upper)
{
	if(!isBuffering())
		mJoint.setLimit(axis, lower, upper);
	else
	{
		if(!isBuffered(Buf::BF_Limits))
		{
			PxArticulationLimit* limits = getBuffer()->mLimits;
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
				mJoint.getLimit(PxArticulationAxis::Enum(i), limits[i].low, limits[i].high);
		}
		getBuffer()->mLimits[axis].low = lower;
		getBuffer()->mLimits[axis].high = upper;
		markUpdated(Buf::BF_Limits);
	}
}
PX_INLINE void ArticulationJoint::getLimit(PxArticulationAxis::Enum axis, PxReal& lower, PxReal& upper) const
{
	if(isBuffered(Buf::BF_Limits))
	{
		lower = getBuffer()->mLimits[axis].low;
		upper = getBuffer()->mLimits[axis].high;
	}
	else
		mJoint.getLimit(axis, lower, upper);
}

PX_INLINE void ArticulationJoint::setDrive(PxArticulationAxis::Enum axis, PxReal stiffness, PxReal damping, PxReal maxForce, PxArticulationDriveType::Enum driveType)
{
	if(!isBuffering())
		mJoint.setDrive(axis, stiffness, damping, maxForce, driveType);
	else
	{
		if(!isBuffered(Buf::BF_Drives))
		{
			PxArticulationDrive* drives = getBuffer()->mDrives;
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
				mJoint.getDrive(PxArticulationAxis::Enum(i), drives[i].stiffness, drives[i].damping, drives[i].maxForce, drives[i].driveType);
		}
		getBuffer()->mDrives[axis].stiffness = stiffness;
		getBuffer()->mDrives[axis].damping = damping;
		getBuffer()->mDrives[axis].maxForce = maxForce;
		getBuffer()->mDrives[axis].driveType = driveType;
		markUpdated(Buf::BF_Drives);
	}
}
PX_INLINE void ArticulationJoint::getDrive(PxArticulationAxis::Enum axis, PxReal& stiffness, PxReal& damping, PxReal& maxForce, PxArticulationDriveType::Enum& driveType) const
{
	if(!isBuffered(Buf::BF_Drives))
		mJoint.getDrive(axis, stiffness, damping, maxForce, driveType);
	else
	{
		stiffness = getBuffer()->mDrives[axis].stiffness;
		damping = getBuffer()->mDrives[axis].damping;
		maxForce = getBuffer()->mDrives[axis].maxForce;
		driveType = getBuffer()->mDrives[axis].driveType;
	}
}

PX_INLINE void  ArticulationJoint::setDriveTarget(PxArticulationAxis::Enum axis, PxReal targetP)
{
	if(!isBuffering())
		mJoint.setTargetP(axis, targetP);
	else
	{
		if(!isBuffered(Buf::BF_Targets))
		{
			PxReal* targetP_ = getBuffer()->mTargetP;
			PxReal* targetV_ = getBuffer()->mTargetV;
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				targetP_[i] = mJoint.getTargetP(PxArticulationAxis::Enum(i));
				targetV_[i] = mJoint.getTargetV(PxArticulationAxis::Enum(i));
			}
		}
		getBuffer()->mTargetP[axis] = targetP;
		markUpdated(Buf::BF_Targets);
	}
}
PX_INLINE PxReal ArticulationJoint::getDriveTarget(PxArticulationAxis::Enum axis) const
{
	if(!isBuffered(Buf::BF_Targets))
		return mJoint.getTargetP(axis);
	else
		return getBuffer()->mTargetP[axis];
}

PX_INLINE void  ArticulationJoint::setDriveVelocity(PxArticulationAxis::Enum axis, PxReal targetP)
{
	if (!isBuffering())
		mJoint.setTargetV(axis, targetP);
	else
	{
		if(!isBuffered(Buf::BF_Targets))
		{
			PxReal* targetP_ = getBuffer()->mTargetP;
			PxReal* targetV_ = getBuffer()->mTargetV;
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				targetP_[i] = mJoint.getTargetP(PxArticulationAxis::Enum(i));
				targetV_[i] = mJoint.getTargetV(PxArticulationAxis::Enum(i));
			}
		}
		getBuffer()->mTargetV[axis] = targetP;
		markUpdated(Buf::BF_Targets);
	}
}
PX_INLINE PxReal ArticulationJoint::getDriveVelocity(PxArticulationAxis::Enum axis) const
{
	if (!isBuffered(Buf::BF_Targets))
		return mJoint.getTargetV(axis);
	else
		return getBuffer()->mTargetV[axis];
}


PX_INLINE void ArticulationJoint::setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion)
{
	if (!isBuffering())
		mJoint.setMotion(axis, motion);
	else
	{
		if(!isBuffered(Buf::BF_Motion))
		{
			PxArticulationMotion::Enum* motionAxis = getBuffer()->mMotion;
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
				motionAxis[i] = mJoint.getMotion(PxArticulationAxis::Enum(i));
		}

		getBuffer()->mMotion[axis] = motion;
		markUpdated(PxU32(Buf::BF_Motion));
	}
}

PX_INLINE PxArticulationMotion::Enum ArticulationJoint::getMotion(PxArticulationAxis::Enum axis) const
{
	if(isBuffered(PxU32(Buf::BF_Motion)))
		return getBuffer()->mMotion[axis];
	else
		return mJoint.getMotion(axis);
}


//--------------------------------------------------------------
//
// Data synchronization
//
//--------------------------------------------------------------

PX_INLINE void ArticulationJoint::syncState()
{
	const PxU32 flags = getBufferFlags();
	if(flags)  // Optimization to avoid all the if-statements below if possible
	{
		const Buf& buffer = *getBuffer();

#ifdef USE_NEW_SYSTEM
		syncParentPose();
		syncChildPose();
		syncTargetOrientation();
		syncTargetVelocity();
		syncStiffness();
		syncDamping();
		syncInternalCompliance();
		syncExternalCompliance();
		syncSwingLimitContactDistance();
		syncSwingLimitEnabled();
		syncTwistLimitContactDistance();
		syncTwistLimitEnabled();
		syncTangentialStiffness();
		syncTangentialDamping();
		syncDriveType();
#else
		flush<Buf::BF_ParentPose>(buffer);
		flush<Buf::BF_ChildPose>(buffer);
		flush<Buf::BF_TargetOrientation>(buffer);
		flush<Buf::BF_TargetVelocity>(buffer);
		flush<Buf::BF_Stiffness>(buffer);
		flush<Buf::BF_Damping>(buffer);
		flush<Buf::BF_FrictionCoefficient>(buffer);
		flush<Buf::BF_InternalCompliance>(buffer);
		flush<Buf::BF_ExternalCompliance>(buffer);
		flush<Buf::BF_SwingLimitContactDistance>(buffer);
		flush<Buf::BF_SwingLimitEnabled>(buffer);
		flush<Buf::BF_TwistLimitContactDistance>(buffer);
		flush<Buf::BF_TwistLimitEnabled>(buffer);
		flush<Buf::BF_TangentialStiffness>(buffer);
		flush<Buf::BF_TangentialDamping>(buffer);
		flush<Buf::BF_JointType>(buffer);
		flush<Buf::BF_DriveType>(buffer);
#endif

		if(isBuffered(Buf::BF_SwingLimit))
			mJoint.setSwingLimit(buffer.mSwingLimitY, buffer.mSwingLimitZ);

		if(isBuffered(Buf::BF_TwistLimit))
			mJoint.setTwistLimit(buffer.mTwistLimitLower, buffer.mTwistLimitUpper);

		if(isBuffered(Buf::BF_Motion))
		{
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				mJoint.setMotion(PxArticulationAxis::Enum(i), buffer.mMotion[i]);
			}
		}

		if(isBuffered(Buf::BF_Limits))
		{
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				mJoint.setLimit(PxArticulationAxis::Enum(i), buffer.mLimits[i].low, buffer.mLimits[i].high);
			}
		}

		if(isBuffered(Buf::BF_Drives))
		{
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				mJoint.setDrive(PxArticulationAxis::Enum(i), buffer.mDrives[i].stiffness, buffer.mDrives[i].damping, buffer.mDrives[i].maxForce, buffer.mDrives[i].driveType);
			}
		}

		if(isBuffered(Buf::BF_Targets))
		{
			for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
			{
				mJoint.setTargetP(PxArticulationAxis::Enum(i), buffer.mTargetP[i]);
				mJoint.setTargetV(PxArticulationAxis::Enum(i), buffer.mTargetV[i]);
			}
		}
	}

	postSyncState();
}

}  // namespace Scb

}

#endif
