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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#ifndef PXD_SHADER_H
#define PXD_SHADER_H

#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "PxvConfig.h"
#include "PxvDynamics.h"
#include "PxConstraint.h"
#include "DyConstraintWriteBack.h"

namespace physx
{

class PxsRigidBody;

namespace Dy
{


#if PX_VC 
    #pragma warning(push)
	#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
PX_ALIGN_PREFIX(16)
struct Constraint
{
public:

	PxReal								linBreakForce;														//0
	PxReal								angBreakForce;														//4
	PxU32								constantBlockSize;													//8

	PxConstraintSolverPrep				solverPrep;															//12
	PxConstraintProject					project;															//16
	void*								constantBlock;														//20

	PxsRigidBody*						body0;																//24
	PxsRigidBody*						body1;																//28

	PxsBodyCore*						bodyCore0;															//32
	PxsBodyCore*						bodyCore1;															//36
	PxU32								flags;																//40
	PxU32								index;																//44 //this is also a constraint write back index
	PxReal								minResponseThreshold;												//48
}
PX_ALIGN_SUFFIX(16);
#if PX_VC 
     #pragma warning(pop) 
#endif

#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(64==sizeof(Constraint));
#endif

}

}

#endif