1 files changed, 45 insertions, 0 deletions
diff --git a/include/NvFlexExt.h b/include/NvFlexExt.h
index e43163e..fd17f11 100644
--- a/include/NvFlexExt.h
+++ b/include/NvFlexExt.h
@@ -364,6 +364,25 @@ struct NvFlexExtInstance
 	void* userData;					//!< User data pointer
 };
 
+/**
+* Represents a soft joint with a radius overlapping different flex objects
+* Each soft joint can be spawned into a container using NvFlexExtCreateSoftJoint()
+*/
+struct NvFlexExtSoftJoint
+{
+	int* particleIndices;			//!< Global indices
+	float* particleLocalPositions;  //!< Relative offsets from the particles of the joint to the center
+	int shapeIndex;					//!< Index in the container's shape body constraints array	
+	int numParticles;				//!< Number of particles in the joint
+
+	float shapeTranslations[3];		//!< Joint shape matching group translations (vec3s)
+	float shapeRotations[4];		//!< Joint shape matching group rotations (quaternions)
+
+	float stiffness;				//!< Joint stiffness
+
+	bool initialized;				//!< Joint status flag
+};
+
 /** 
  * Opaque type representing a simulation
  */
@@ -767,7 +786,33 @@ NV_FLEX_API void NvFlexExtDestroyForceFieldCallback(NvFlexExtForceFieldCallback*
  */
 NV_FLEX_API void NvFlexExtSetForceFields(NvFlexExtForceFieldCallback* callback, const NvFlexExtForceField* forceFields, int numForceFields);
 
+/**
+* Create a soft joint, the container will internally store a reference to the joint array
+*
+* @param[in] container The container to spawn into
+* @param[in] particleIndices A pointer to an array of particle indices
+* @param[in] particleLocalPositions A pointer to an array of particle local positions
+* @param[in] numJointParticles The number of particles in the joint
+* @param[in] stiffness The stiffness of the joint
+* @return A pointer to the soft joint
+*/
+NV_FLEX_API NvFlexExtSoftJoint* NvFlexExtCreateSoftJoint(NvFlexExtContainer* container, const int* particleIndices, const float* particleLocalPositions, const int numJointParticles, const float stiffness);
+
+/** Destroy a soft joint
+*
+* @param[in] container The container the joint belongs to
+* @param[in] joint The soft joint to destroy
+*/
+NV_FLEX_API void NvFlexExtDestroySoftJoint(NvFlexExtContainer* container, NvFlexExtSoftJoint* joint);
 
+/** Transform all the local particles of the soft joint
+*
+* @param[in] container The container to spawn into
+* @param[in] joint The soft joint to destroy
+* @param[in] position A pointer to a vec3 storing the soft joint new position
+* @param[in] rotation A pointer to a quaternion storing the soft joint new rotation
+*/
+NV_FLEX_API void NvFlexExtSoftJointSetTransform(NvFlexExtContainer* container, NvFlexExtSoftJoint* joint, const float* position, const float* rotation);
 
 } // extern "C"