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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_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
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