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#ifndef DY_CONSTRAINTPARTITION_H
#define DY_CONSTRAINTPARTITION_H

#include "DyDynamics.h"



namespace physx
{

namespace Dy
{
struct ConstraintPartitionArgs
{
	enum
	{
		eMAX_NUM_BODIES = 8192
	};   

	//Input
	PxSolverBody*							mBodies;
	PxU32									mNumBodies;
	ArticulationSolverDesc*				mArticulationPtrs;
	PxU32									mNumArticulationPtrs;
	PxSolverConstraintDesc*				mContactConstraintDescriptors;
	PxU32									mNumContactConstraintDescriptors;
	//output
	PxSolverConstraintDesc*				mOrderedContactConstraintDescriptors;
	PxSolverConstraintDesc*				mTempContactConstraintDescriptors;
	PxU32									mNumSelfConstraintBlocks;
	PxU32									mNumDifferentBodyConstraints;
	PxU32									mNumSelfConstraints;
	Ps::Array<PxU32>*						mConstraintsPerPartition;
	//Ps::Array<PxU32>*						mStartIndices;
	Ps::Array<PxU32>*						mBitField;

	bool									enhancedDeterminism;
};

PxU32 partitionContactConstraints(ConstraintPartitionArgs& args);

} // namespace physx

}



#endif // DY_CONSTRAINTPARTITION_H