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#ifndef PXDV_ARTICULATION_CORE_H
#define PXDV_ARTICULATION_CORE_H

#include "PxArticulationReducedCoordinate.h"

namespace physx
{
	namespace Dy
	{
		struct 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.
			//==================================================================================================

			PxU32					internalDriveIterations;
			PxU32					externalDriveIterations;
			PxU32					maxProjectionIterations;
			PxU16					solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
			PxReal					separationTolerance;
			PxReal					sleepThreshold;
			PxReal					freezeThreshold;
			PxReal					wakeCounter;
			PxArticulationFlags		flags;
		};

		struct ArticulationJointCoreDirtyFlag
		{
			enum Enum
			{
				eNONE = 0,
				eMOTION = 1 << 0,
				ePOSE = 1 << 1,
				eTARGETPOSE = 1 << 2,
				eTARGETVELOCITY = 1 << 3,
				eLIMIT = 1 << 4,
				eDRIVE = 1 << 5,
				eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY
			};
		};

		typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
		PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
	}
}

#endif

