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Diffstat (limited to 'PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF4.h')
| -rw-r--r-- | PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF4.h | 155 |
1 files changed, 155 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF4.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF4.h new file mode 100644 index 00000000..7cf3b94d --- /dev/null +++ b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF4.h @@ -0,0 +1,155 @@ +// This code contains NVIDIA Confidential Information and is disclosed to you +// under a form of NVIDIA software license agreement provided separately to you. +// +// Notice +// NVIDIA Corporation and its licensors retain all intellectual property and +// proprietary rights in and to this software and related documentation and +// any modifications thereto. Any use, reproduction, disclosure, or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA Corporation is strictly prohibited. +// +// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES +// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO +// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, +// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. +// +// Information and code furnished is believed to be accurate and reliable. +// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such +// information or for any infringement of patents or other rights of third parties that may +// result from its use. No license is granted by implication or otherwise under any patent +// or patent rights of NVIDIA Corporation. Details are subject to change without notice. +// This code supersedes and replaces all information previously supplied. +// NVIDIA Corporation products are not authorized for use as critical +// components in life support devices or systems without express written approval of +// NVIDIA Corporation. +// +// Copyright (c) 2008-2016 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 DY_SOLVER_CONTACT_PF_4_H +#define DY_SOLVER_CONTACT_PF_4_H + +#include "foundation/PxSimpleTypes.h" +#include "foundation/PxVec3.h" +#include "PxvConfig.h" +#include "PsVecMath.h" + +namespace physx +{ + +using namespace Ps::aos; + +namespace Sc +{ + class ShapeInteraction; +} + +namespace Dy +{ + +struct SolverContactCoulombHeader4 +{ + PxU8 type; //Note: mType should be first as the solver expects a type in the first byte. + PxU8 numNormalConstr; + PxU16 frictionOffset; + PxU8 numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3; + PxU8 flags[4]; + PxU32 pad; //16 + Vec4V restitution; //32 + Vec4V normalX; //48 + Vec4V normalY; //64 + Vec4V normalZ; //80 + Vec4V invMassADom; //96 + Vec4V invMassBDom; //112 + Vec4V angD0; //128 + Vec4V angD1; //144 + Sc::ShapeInteraction* shapeInteraction[4]; //160 or 176 +}; + +#if !PX_P64_FAMILY +PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 160); +#else +PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 176); +#endif + +struct SolverContact4Base +{ + Vec4V raXnX; + Vec4V raXnY; + Vec4V raXnZ; + Vec4V appliedForce; + Vec4V velMultiplier; + Vec4V targetVelocity; + Vec4V scaledBias; + Vec4V maxImpulse; +}; + +PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Base) == 128); + +struct SolverContact4Dynamic : public SolverContact4Base +{ + Vec4V rbXnX; + Vec4V rbXnY; + Vec4V rbXnZ; +}; + +PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Dynamic) == 176); + +struct SolverFrictionHeader4 +{ + PxU8 type; //Note: mType should be first as the solver expects a type in the first byte. + PxU8 numNormalConstr; + PxU8 numFrictionConstr; + PxU8 numNormalConstr0; + PxU8 numNormalConstr1; + PxU8 numNormalConstr2; + PxU8 numNormalConstr3; + PxU8 numFrictionConstr0; + PxU8 numFrictionConstr1; + PxU8 numFrictionConstr2; + PxU8 numFrictionConstr3; + PxU8 pad0; + PxU32 frictionPerContact; + + Vec4V staticFriction; + Vec4V invMassADom; + Vec4V invMassBDom; + Vec4V angD0; + Vec4V angD1; +}; + +PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader4) == 96); + +struct SolverFriction4Base +{ + Vec4V normalX; + Vec4V normalY; + Vec4V normalZ; + Vec4V raXnX; + Vec4V raXnY; + Vec4V raXnZ; + Vec4V appliedForce; + Vec4V velMultiplier; + Vec4V targetVelocity; +}; + +PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Base) == 144); + +struct SolverFriction4Dynamic : public SolverFriction4Base +{ + Vec4V rbXnX; + Vec4V rbXnY; + Vec4V rbXnZ; +}; + +PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Dynamic) == 192); + +} + +} + + + +#endif //DY_SOLVER_CONTACT_PF_4_H + |