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IN NO EVENT SHALL THE COPYRIGHT OWNER OR // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. #include "foundation/PxMemory.h" #include "DyConstraintPrep.h" #include "PxsRigidBody.h" #include "DySolverConstraint1D.h" #include "DySolverConstraint1D4.h" #include "PsSort.h" #include "PxcConstraintBlockStream.h" #include "DyArticulationContactPrep.h" #include "PsFoundation.h" namespace physx { namespace Dy { void preprocessRows(Px1DConstraint** sorted, Px1DConstraint* rows, PxVec4* angSqrtInvInertia0, PxVec4* angSqrtInvInertia1, PxU32 rowCount, const PxSolverBodyData& bd0, const PxSolverBodyData& bd1, const PxConstraintInvMassScale& ims, bool disablePreprocessing, bool diagonalizeDrive); namespace { void setConstants(PxReal& constant, PxReal& unbiasedConstant, PxReal& velMultiplier, PxReal& impulseMultiplier, const Px1DConstraint& c, PxReal unitResponse, PxReal minRowResponse, PxReal erp, PxReal dt, PxReal recipdt, const PxSolverBodyData& b0, const PxSolverBodyData& b1, const bool finished) { if(finished) { constant = 0.f; unbiasedConstant = 0.f; velMultiplier = 0.f; impulseMultiplier = 0.f; return; } PxReal nv = needsNormalVel(c) ? b0.projectVelocity(c.linear0, c.angular0) - b1.projectVelocity(c.linear1, c.angular1) : 0; setSolverConstants(constant, unbiasedConstant, velMultiplier, impulseMultiplier, c, nv, unitResponse, minRowResponse, erp, dt, recipdt); } } SolverConstraintPrepState::Enum setupSolverConstraint4 (PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs, const PxReal dt, const PxReal recipdt, PxU32& totalRows, PxConstraintAllocator& allocator, PxU32 maxRows); SolverConstraintPrepState::Enum setupSolverConstraint4 (SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs, PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs, const PxReal dt, const PxReal recipdt, PxU32& totalRows, PxConstraintAllocator& allocator) { //KS - we will never get here with constraints involving articulations so we don't need to stress about those in here totalRows = 0; Px1DConstraint allRows[MAX_CONSTRAINT_ROWS * 4]; PxU32 numRows = 0; PxU32 maxRows = 0; PxU32 preppedIndex = 0; for (PxU32 a = 0; a < 4; ++a) { Px1DConstraint* rows = allRows + numRows; SolverConstraintShaderPrepDesc& shaderDesc = constraintShaderDescs[a]; PxSolverConstraintPrepDesc& desc = constraintDescs[a]; if (!shaderDesc.solverPrep) return SolverConstraintPrepState::eUNBATCHABLE; PxMemZero(rows + preppedIndex, sizeof(Px1DConstraint)*(MAX_CONSTRAINT_ROWS)); for (PxU32 b = preppedIndex; b < MAX_CONSTRAINT_ROWS; ++b) { Px1DConstraint& c = rows[b]; //Px1DConstraintInit(c); c.minImpulse = -PX_MAX_REAL; c.maxImpulse = PX_MAX_REAL; } desc.mInvMassScales.linear0 = desc.mInvMassScales.linear1 = desc.mInvMassScales.angular0 = desc.mInvMassScales.angular1 = 1.f; desc.body0WorldOffset = PxVec3(0.f); PxU32 constraintCount = (*shaderDesc.solverPrep)(rows, desc.body0WorldOffset, MAX_CONSTRAINT_ROWS, desc.mInvMassScales, shaderDesc.constantBlock, desc.bodyFrame0, desc.bodyFrame1); preppedIndex = MAX_CONSTRAINT_ROWS - constraintCount; maxRows = PxMax(constraintCount, maxRows); if (constraintCount == 0) return SolverConstraintPrepState::eUNBATCHABLE; desc.rows = rows; desc.numRows = constraintCount; numRows += constraintCount; } return setupSolverConstraint4(constraintDescs, dt, recipdt, totalRows, allocator, maxRows); } SolverConstraintPrepState::Enum setupSolverConstraint4 (PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs, const PxReal dt, const PxReal recipdt, PxU32& totalRows, PxConstraintAllocator& allocator, PxU32 maxRows) { const Vec4V zero = V4Zero(); Px1DConstraint* allSorted[MAX_CONSTRAINT_ROWS * 4]; PxU32 startIndex[4]; PX_ALIGN(16, PxVec4) angSqrtInvInertia0[MAX_CONSTRAINT_ROWS * 4]; PX_ALIGN(16, PxVec4) angSqrtInvInertia1[MAX_CONSTRAINT_ROWS * 4]; PxU32 numRows = 0; for (PxU32 a = 0; a < 4; ++a) { startIndex[a] = numRows; PxSolverConstraintPrepDesc& desc = constraintDescs[a]; Px1DConstraint** sorted = allSorted + numRows; preprocessRows(sorted, desc.rows, angSqrtInvInertia0 + numRows, angSqrtInvInertia1 + numRows, desc.numRows, *desc.data0, *desc.data1, desc.mInvMassScales, desc.disablePreprocessing, desc.improvedSlerp); numRows += desc.numRows; } PxU32 stride = sizeof(SolverConstraint1DDynamic4); const PxU32 constraintLength = sizeof(SolverConstraint1DHeader4) + stride * maxRows; //KS - +16 is for the constraint progress counter, which needs to be the last element in the constraint (so that we //know SPU DMAs have completed) PxU8* ptr = allocator.reserveConstraintData(constraintLength + 16u); if(NULL == ptr || (reinterpret_cast(-1))==ptr) { for(PxU32 a = 0; a < 4; ++a) { PxSolverConstraintPrepDesc& desc = constraintDescs[a]; desc.desc->constraint = NULL; setConstraintLength(*desc.desc, 0); desc.desc->writeBack = desc.writeback; } if(NULL==ptr) { PX_WARN_ONCE( "Reached limit set by PxSceneDesc::maxNbContactDataBlocks - ran out of buffer space for constraint prep. " "Either accept joints detaching/exploding or increase buffer size allocated for constraint prep by increasing PxSceneDesc::maxNbContactDataBlocks."); return SolverConstraintPrepState::eOUT_OF_MEMORY; } else { PX_WARN_ONCE( "Attempting to allocate more than 16K of constraint data. " "Either accept joints detaching/exploding or simplify constraints."); ptr=NULL; return SolverConstraintPrepState::eOUT_OF_MEMORY; } } //desc.constraint = ptr; totalRows = numRows; for(PxU32 a = 0; a < 4; ++a) { PxSolverConstraintPrepDesc& desc = constraintDescs[a]; desc.desc->constraint = ptr; setConstraintLength(*desc.desc, constraintLength); desc.desc->writeBack = desc.writeback; } const PxReal erp[4] = { 1.0f, 1.0f, 1.0f, 1.0f}; //OK, now we build all 4 constraints into a single set of rows { PxU8* currPtr = ptr; SolverConstraint1DHeader4* header = reinterpret_cast(currPtr); currPtr += sizeof(SolverConstraint1DHeader4); const PxSolverBodyData& bd00 = *constraintDescs[0].data0; const PxSolverBodyData& bd01 = *constraintDescs[1].data0; const PxSolverBodyData& bd02 = *constraintDescs[2].data0; const PxSolverBodyData& bd03 = *constraintDescs[3].data0; const PxSolverBodyData& bd10 = *constraintDescs[0].data1; const PxSolverBodyData& bd11 = *constraintDescs[1].data1; const PxSolverBodyData& bd12 = *constraintDescs[2].data1; const PxSolverBodyData& bd13 = *constraintDescs[3].data1; //Load up masses, invInertia, velocity etc. const Vec4V invMassScale0 = V4LoadXYZW(constraintDescs[0].mInvMassScales.linear0, constraintDescs[1].mInvMassScales.linear0, constraintDescs[2].mInvMassScales.linear0, constraintDescs[3].mInvMassScales.linear0); const Vec4V invMassScale1 = V4LoadXYZW(constraintDescs[0].mInvMassScales.linear1, constraintDescs[1].mInvMassScales.linear1, constraintDescs[2].mInvMassScales.linear1, constraintDescs[3].mInvMassScales.linear1); const Vec4V iMass0 = V4LoadXYZW(bd00.invMass, bd01.invMass, bd02.invMass, bd03.invMass); const Vec4V iMass1 = V4LoadXYZW(bd10.invMass, bd11.invMass, bd12.invMass, bd13.invMass); const Vec4V invMass0 = V4Mul(iMass0, invMassScale0); const Vec4V invMass1 = V4Mul(iMass1, invMassScale1); const Vec4V invInertiaScale0 = V4LoadXYZW(constraintDescs[0].mInvMassScales.angular0, constraintDescs[1].mInvMassScales.angular0, constraintDescs[2].mInvMassScales.angular0, constraintDescs[3].mInvMassScales.angular0); const Vec4V invInertiaScale1 = V4LoadXYZW(constraintDescs[0].mInvMassScales.angular1, constraintDescs[1].mInvMassScales.angular1, constraintDescs[2].mInvMassScales.angular1, constraintDescs[3].mInvMassScales.angular1); //Velocities Vec4V linVel00 = V4LoadA(&bd00.linearVelocity.x); Vec4V linVel01 = V4LoadA(&bd10.linearVelocity.x); Vec4V angVel00 = V4LoadA(&bd00.angularVelocity.x); Vec4V angVel01 = V4LoadA(&bd10.angularVelocity.x); Vec4V linVel10 = V4LoadA(&bd01.linearVelocity.x); Vec4V linVel11 = V4LoadA(&bd11.linearVelocity.x); Vec4V angVel10 = V4LoadA(&bd01.angularVelocity.x); Vec4V angVel11 = V4LoadA(&bd11.angularVelocity.x); Vec4V linVel20 = V4LoadA(&bd02.linearVelocity.x); Vec4V linVel21 = V4LoadA(&bd12.linearVelocity.x); Vec4V angVel20 = V4LoadA(&bd02.angularVelocity.x); Vec4V angVel21 = V4LoadA(&bd12.angularVelocity.x); Vec4V linVel30 = V4LoadA(&bd03.linearVelocity.x); Vec4V linVel31 = V4LoadA(&bd13.linearVelocity.x); Vec4V angVel30 = V4LoadA(&bd03.angularVelocity.x); Vec4V angVel31 = V4LoadA(&bd13.angularVelocity.x); Vec4V linVel0T0, linVel0T1, linVel0T2; Vec4V linVel1T0, linVel1T1, linVel1T2; Vec4V angVel0T0, angVel0T1, angVel0T2; Vec4V angVel1T0, angVel1T1, angVel1T2; PX_TRANSPOSE_44_34(linVel00, linVel10, linVel20, linVel30, linVel0T0, linVel0T1, linVel0T2); PX_TRANSPOSE_44_34(linVel01, linVel11, linVel21, linVel31, linVel1T0, linVel1T1, linVel1T2); PX_TRANSPOSE_44_34(angVel00, angVel10, angVel20, angVel30, angVel0T0, angVel0T1, angVel0T2); PX_TRANSPOSE_44_34(angVel01, angVel11, angVel21, angVel31, angVel1T0, angVel1T1, angVel1T2); //body world offsets Vec4V workOffset0 = Vec4V_From_Vec3V(V3LoadU(constraintDescs[0].body0WorldOffset)); Vec4V workOffset1 = Vec4V_From_Vec3V(V3LoadU(constraintDescs[1].body0WorldOffset)); Vec4V workOffset2 = Vec4V_From_Vec3V(V3LoadU(constraintDescs[2].body0WorldOffset)); Vec4V workOffset3 = Vec4V_From_Vec3V(V3LoadU(constraintDescs[3].body0WorldOffset)); Vec4V workOffsetX, workOffsetY, workOffsetZ; PX_TRANSPOSE_44_34(workOffset0, workOffset1, workOffset2, workOffset3, workOffsetX, workOffsetY, workOffsetZ); const FloatV dtV = FLoad(dt); Vec4V linBreakForce = V4LoadXYZW(constraintDescs[0].linBreakForce, constraintDescs[1].linBreakForce, constraintDescs[2].linBreakForce, constraintDescs[3].linBreakForce); Vec4V angBreakForce = V4LoadXYZW(constraintDescs[0].angBreakForce, constraintDescs[1].angBreakForce, constraintDescs[2].angBreakForce, constraintDescs[3].angBreakForce); header->break0 = PxU8((constraintDescs[0].linBreakForce != PX_MAX_F32) || (constraintDescs[0].angBreakForce != PX_MAX_F32)); header->break1 = PxU8((constraintDescs[1].linBreakForce != PX_MAX_F32) || (constraintDescs[1].angBreakForce != PX_MAX_F32)); header->break2 = PxU8((constraintDescs[2].linBreakForce != PX_MAX_F32) || (constraintDescs[2].angBreakForce != PX_MAX_F32)); header->break3 = PxU8((constraintDescs[3].linBreakForce != PX_MAX_F32) || (constraintDescs[3].angBreakForce != PX_MAX_F32)); //OK, I think that's everything loaded in header->invMass0D0 = invMass0; header->invMass1D1 = invMass1; header->angD0 = invInertiaScale0; header->angD1 = invInertiaScale1; header->body0WorkOffsetX = workOffsetX; header->body0WorkOffsetY = workOffsetY; header->body0WorkOffsetZ = workOffsetZ; header->count = maxRows; header->type = DY_SC_TYPE_BLOCK_1D; header->linBreakImpulse = V4Scale(linBreakForce, dtV); header->angBreakImpulse = V4Scale(angBreakForce, dtV); header->count0 = Ps::to8(constraintDescs[0].numRows); header->count1 = Ps::to8(constraintDescs[1].numRows); header->count2 = Ps::to8(constraintDescs[2].numRows); header->count3 = Ps::to8(constraintDescs[3].numRows); //Now we loop over the constraints and build the results... PxU32 index0 = 0; PxU32 endIndex0 = constraintDescs[0].numRows - 1; PxU32 index1 = startIndex[1]; PxU32 endIndex1 = index1 + constraintDescs[1].numRows - 1; PxU32 index2 = startIndex[2]; PxU32 endIndex2 = index2 + constraintDescs[2].numRows - 1; PxU32 index3 = startIndex[3]; PxU32 endIndex3 = index3 + constraintDescs[3].numRows - 1; const FloatV one = FOne(); for(PxU32 a = 0; a < maxRows; ++a) { SolverConstraint1DDynamic4* c = reinterpret_cast(currPtr); currPtr += stride; Px1DConstraint* con0 = allSorted[index0]; Px1DConstraint* con1 = allSorted[index1]; Px1DConstraint* con2 = allSorted[index2]; Px1DConstraint* con3 = allSorted[index3]; Vec4V cangDelta00 = V4LoadA(&angSqrtInvInertia0[index0].x); Vec4V cangDelta01 = V4LoadA(&angSqrtInvInertia0[index1].x); Vec4V cangDelta02 = V4LoadA(&angSqrtInvInertia0[index2].x); Vec4V cangDelta03 = V4LoadA(&angSqrtInvInertia0[index3].x); Vec4V cangDelta10 = V4LoadA(&angSqrtInvInertia1[index0].x); Vec4V cangDelta11 = V4LoadA(&angSqrtInvInertia1[index1].x); Vec4V cangDelta12 = V4LoadA(&angSqrtInvInertia1[index2].x); Vec4V cangDelta13 = V4LoadA(&angSqrtInvInertia1[index3].x); index0 = index0 == endIndex0 ? index0 : index0 + 1; index1 = index1 == endIndex1 ? index1 : index1 + 1; index2 = index2 == endIndex2 ? index2 : index2 + 1; index3 = index3 == endIndex3 ? index3 : index3 + 1; Vec4V driveScale = V4Splat(one); if (con0->flags&Px1DConstraintFlag::eHAS_DRIVE_LIMIT && constraintDescs[0].driveLimitsAreForces) driveScale = V4SetX(driveScale, FMin(one, dtV)); if (con1->flags&Px1DConstraintFlag::eHAS_DRIVE_LIMIT && constraintDescs[1].driveLimitsAreForces) driveScale = V4SetY(driveScale, FMin(one, dtV)); if (con2->flags&Px1DConstraintFlag::eHAS_DRIVE_LIMIT && constraintDescs[2].driveLimitsAreForces) driveScale = V4SetZ(driveScale, FMin(one, dtV)); if (con3->flags&Px1DConstraintFlag::eHAS_DRIVE_LIMIT && constraintDescs[3].driveLimitsAreForces) driveScale = V4SetW(driveScale, FMin(one, dtV)); Vec4V clin00 = V4LoadA(&con0->linear0.x); Vec4V clin01 = V4LoadA(&con1->linear0.x); Vec4V clin02 = V4LoadA(&con2->linear0.x); Vec4V clin03 = V4LoadA(&con3->linear0.x); Vec4V cang00 = V4LoadA(&con0->angular0.x); Vec4V cang01 = V4LoadA(&con1->angular0.x); Vec4V cang02 = V4LoadA(&con2->angular0.x); Vec4V cang03 = V4LoadA(&con3->angular0.x); Vec4V clin0X, clin0Y, clin0Z; Vec4V cang0X, cang0Y, cang0Z; PX_TRANSPOSE_44_34(clin00, clin01, clin02, clin03, clin0X, clin0Y, clin0Z); PX_TRANSPOSE_44_34(cang00, cang01, cang02, cang03, cang0X, cang0Y, cang0Z); const Vec4V maxImpulse = V4LoadXYZW(con0->maxImpulse, con1->maxImpulse, con2->maxImpulse, con3->maxImpulse); const Vec4V minImpulse = V4LoadXYZW(con0->minImpulse, con1->minImpulse, con2->minImpulse, con3->minImpulse); Vec4V angDelta0X, angDelta0Y, angDelta0Z; PX_TRANSPOSE_44_34(cangDelta00, cangDelta01, cangDelta02, cangDelta03, angDelta0X, angDelta0Y, angDelta0Z); c->flags[0] = 0; c->flags[1] = 0; c->flags[2] = 0; c->flags[3] = 0; c->lin0X = clin0X; c->lin0Y = clin0Y; c->lin0Z = clin0Z; c->ang0X = angDelta0X; c->ang0Y = angDelta0Y; c->ang0Z = angDelta0Z; c->ang0WritebackX = cang0X; c->ang0WritebackY = cang0Y; c->ang0WritebackZ = cang0Z; c->minImpulse = V4Mul(minImpulse, driveScale); c->maxImpulse = V4Mul(maxImpulse, driveScale); c->appliedForce = zero; const Vec4V lin0MagSq = V4MulAdd(clin0Z, clin0Z, V4MulAdd(clin0Y, clin0Y, V4Mul(clin0X, clin0X))); const Vec4V cang0DotAngDelta = V4MulAdd(angDelta0Z, angDelta0Z, V4MulAdd(angDelta0Y, angDelta0Y, V4Mul(angDelta0X, angDelta0X))); c->flags[0] = 0; c->flags[1] = 0; c->flags[2] = 0; c->flags[3] = 0; Vec4V unitResponse = V4MulAdd(lin0MagSq, invMass0, V4Mul(cang0DotAngDelta, invInertiaScale0)); Vec4V clin10 = V4LoadA(&con0->linear1.x); Vec4V clin11 = V4LoadA(&con1->linear1.x); Vec4V clin12 = V4LoadA(&con2->linear1.x); Vec4V clin13 = V4LoadA(&con3->linear1.x); Vec4V cang10 = V4LoadA(&con0->angular1.x); Vec4V cang11 = V4LoadA(&con1->angular1.x); Vec4V cang12 = V4LoadA(&con2->angular1.x); Vec4V cang13 = V4LoadA(&con3->angular1.x); Vec4V clin1X, clin1Y, clin1Z; Vec4V cang1X, cang1Y, cang1Z; PX_TRANSPOSE_44_34(clin10, clin11, clin12, clin13, clin1X, clin1Y, clin1Z); PX_TRANSPOSE_44_34(cang10, cang11, cang12, cang13, cang1X, cang1Y, cang1Z); Vec4V angDelta1X, angDelta1Y, angDelta1Z; PX_TRANSPOSE_44_34(cangDelta10, cangDelta11, cangDelta12, cangDelta13, angDelta1X, angDelta1Y, angDelta1Z); const Vec4V lin1MagSq = V4MulAdd(clin1Z, clin1Z, V4MulAdd(clin1Y, clin1Y, V4Mul(clin1X, clin1X))); const Vec4V cang1DotAngDelta = V4MulAdd(angDelta1Z, angDelta1Z, V4MulAdd(angDelta1Y, angDelta1Y, V4Mul(angDelta1X, angDelta1X))); c->lin1X = clin1X; c->lin1Y = clin1Y; c->lin1Z = clin1Z; c->ang1X = angDelta1X; c->ang1Y = angDelta1Y; c->ang1Z = angDelta1Z; unitResponse = V4Add(unitResponse, V4MulAdd(lin1MagSq, invMass1, V4Mul(cang1DotAngDelta, invInertiaScale1))); Vec4V linProj0(V4Mul(clin0X, linVel0T0)); Vec4V linProj1(V4Mul(clin1X, linVel1T0)); Vec4V angProj0(V4Mul(cang0X, angVel0T0)); Vec4V angProj1(V4Mul(cang1X, angVel1T0)); linProj0 = V4MulAdd(clin0Y, linVel0T1, linProj0); linProj1 = V4MulAdd(clin1Y, linVel1T1, linProj1); angProj0 = V4MulAdd(cang0Y, angVel0T1, angProj0); angProj1 = V4MulAdd(cang1Y, angVel1T1, angProj1); linProj0 = V4MulAdd(clin0Z, linVel0T2, linProj0); linProj1 = V4MulAdd(clin1Z, linVel1T2, linProj1); angProj0 = V4MulAdd(cang0Z, angVel0T2, angProj0); angProj1 = V4MulAdd(cang1Z, angVel1T2, angProj1); const Vec4V projectVel0 = V4Add(linProj0, angProj0); const Vec4V projectVel1 = V4Add(linProj1, angProj1); const Vec4V normalVel = V4Sub(projectVel0, projectVel1); { const PxVec4& ur = reinterpret_cast(unitResponse); PxVec4& cConstant = reinterpret_cast(c->constant); PxVec4& cUnbiasedConstant = reinterpret_cast(c->unbiasedConstant); PxVec4& cVelMultiplier = reinterpret_cast(c->velMultiplier); PxVec4& cImpulseMultiplier = reinterpret_cast(c->impulseMultiplier); setConstants(cConstant.x, cUnbiasedConstant.x, cVelMultiplier.x, cImpulseMultiplier.x, *con0, ur.x, constraintDescs[0].minResponseThreshold, erp[0], dt, recipdt, *constraintDescs[0].data0, *constraintDescs[0].data1, a >= constraintDescs[0].numRows); setConstants(cConstant.y, cUnbiasedConstant.y, cVelMultiplier.y, cImpulseMultiplier.y, *con1, ur.y, constraintDescs[1].minResponseThreshold, erp[1], dt, recipdt, *constraintDescs[1].data0, *constraintDescs[1].data1, a >= constraintDescs[1].numRows); setConstants(cConstant.z, cUnbiasedConstant.z, cVelMultiplier.z, cImpulseMultiplier.z, *con2, ur.z, constraintDescs[2].minResponseThreshold, erp[2], dt, recipdt, *constraintDescs[2].data0, *constraintDescs[2].data1, a >= constraintDescs[2].numRows); setConstants(cConstant.w, cUnbiasedConstant.w, cVelMultiplier.w, cImpulseMultiplier.w, *con3, ur.w, constraintDescs[3].minResponseThreshold, erp[3], dt, recipdt, *constraintDescs[3].data0, *constraintDescs[3].data1, a >= constraintDescs[3].numRows); } const Vec4V velBias = V4Mul(c->velMultiplier, normalVel); c->constant = V4Add(c->constant, velBias); c->unbiasedConstant = V4Add(c->unbiasedConstant, velBias); if(con0->flags & Px1DConstraintFlag::eOUTPUT_FORCE) c->flags[0] |= DY_SC_FLAG_OUTPUT_FORCE; if(con1->flags & Px1DConstraintFlag::eOUTPUT_FORCE) c->flags[1] |= DY_SC_FLAG_OUTPUT_FORCE; if(con2->flags & Px1DConstraintFlag::eOUTPUT_FORCE) c->flags[2] |= DY_SC_FLAG_OUTPUT_FORCE; if(con3->flags & Px1DConstraintFlag::eOUTPUT_FORCE) c->flags[3] |= DY_SC_FLAG_OUTPUT_FORCE; } *(reinterpret_cast(currPtr)) = 0; *(reinterpret_cast(currPtr + 4)) = 0; } //OK, we're ready to allocate and solve prep these constraints now :-) return SolverConstraintPrepState::eSUCCESS; } } }