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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. 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.
#ifndef DY_SOLVERCONSTRAINTEXT_H
#define DY_SOLVERCONSTRAINTEXT_H
#include "DySolverExt.h"
namespace physx
{
struct PxcNpWorkUnit;
namespace Gu
{
class ContactBuffer;
struct ContactPoint;
}
namespace Dy
{
struct CorrelationBuffer;
PxReal getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVector& impulse0, Cm::SpatialVector& deltaV0, PxReal dom0, PxReal angDom0,
const SolverExtBody& b1, const Cm::SpatialVector& impulse1, Cm::SpatialVector& deltaV1, PxReal dom1, PxReal angDom1,
bool allowSelfCollision = false);
Cm::SpatialVector createImpulseResponseVector(const PxVec3& linear, const PxVec3& angular, const SolverExtBody& body);
void setupFinalizeExtSolverContacts(
const Gu::ContactPoint* buffer,
const CorrelationBuffer& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxU8* workspace,
const SolverExtBody& b0,
const SolverExtBody& b1,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1,
PxReal restDistance, PxU8* frictionDataPtr,
PxReal ccdMaxContactDist);
bool setupFinalizeExtSolverContactsCoulomb(
const Gu::ContactBuffer& buffer,
const CorrelationBuffer& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxU8* workspace,
PxReal invDt,
PxReal bounceThreshold,
const SolverExtBody& b0,
const SolverExtBody& b1,
PxU32 frictionCountPerPoint,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1,
PxReal restDist,
PxReal ccdMaxContactDist);
}
}
#endif //DY_SOLVERCONSTRAINTEXT_H
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