1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
|
//
// 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_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
|