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#ifndef DY_ARTICULATION_INTERFACE_H
#define DY_ARTICULATION_INTERFACE_H

#include "DyArticulationUtils.h"

namespace physx
{

class PxcConstraintBlockStream;
class PxcScratchAllocator;
class PxsConstraintBlockManager;
struct PxSolverConstraintDesc;

namespace Dy
{
	
	struct ArticulationSolverDesc;


class ArticulationPImpl
{
public:

	typedef PxU32 (*ComputeUnconstrainedVelocitiesFn)(const ArticulationSolverDesc& desc,
													 PxReal dt,
													 PxcConstraintBlockStream& stream,
													 PxSolverConstraintDesc* constraintDesc,
													 PxU32& acCount,
													 PxsConstraintBlockManager& constraintBlockManager,
													 const PxVec3& gravity, PxU64 contextID);

	typedef void (*UpdateBodiesFn)(const ArticulationSolverDesc& desc,
								   PxReal dt);

	typedef void (*SaveVelocityFn)(const ArticulationSolverDesc &m);

	static ComputeUnconstrainedVelocitiesFn sComputeUnconstrainedVelocities;
	static UpdateBodiesFn sUpdateBodies;
	static SaveVelocityFn sSaveVelocity;

	static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
										   PxReal dt,
										   PxcConstraintBlockStream& stream,
										   PxSolverConstraintDesc* constraintDesc,
										   PxU32& acCount,
										   PxcScratchAllocator&,
										   PxsConstraintBlockManager& constraintBlockManager,
										   const PxVec3& gravity, PxU64 contextID)
	{
		PX_ASSERT(sComputeUnconstrainedVelocities);
		if(sComputeUnconstrainedVelocities)
			return (sComputeUnconstrainedVelocities)(desc, dt, stream, constraintDesc, acCount, constraintBlockManager, gravity, contextID);
		else
			return 0;
	}

	static void	updateBodies(const ArticulationSolverDesc& desc,
						 PxReal dt)
	{
		PX_ASSERT(sUpdateBodies);
		if(sUpdateBodies)
			(*sUpdateBodies)(desc, dt);
	}

	static void	saveVelocity(const ArticulationSolverDesc& desc)
	{
		PX_ASSERT(sSaveVelocity);
		if(sSaveVelocity)
			(*sSaveVelocity)(desc);
	}
};


}
}
#endif //DY_ARTICULATION_INTERFACE_H