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
80
81
82
83
84
85
86
87
88
89
90
91
92
|
//
// 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_CONSTRAINTSHADER_H
#define DY_CONSTRAINTSHADER_H
#include "DyConstraint.h"
#include "DySolverConstraintDesc.h"
#include "PsArray.h"
namespace physx
{
class PxcConstraintBlockStream;
class PxsConstraintBlockManager;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
namespace Dy
{
static const PxU32 MAX_CONSTRAINT_ROWS = 12;
struct SolverConstraintShaderPrepDesc
{
const Constraint* constraint;
PxConstraintSolverPrep solverPrep;
const void* constantBlock;
PxU32 constantBlockByteSize;
};
SolverConstraintPrepState::Enum setupSolverConstraint4
(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
const PxReal dt, const PxReal recipdt, PxU32& totalRows,
PxConstraintAllocator& allocator);
SolverConstraintPrepState::Enum setupSolverConstraint4
(PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
const PxReal dt, const PxReal recipdt, PxU32& totalRows,
PxConstraintAllocator& allocator, PxU32 maxRows);
PxU32 SetupSolverConstraint(SolverConstraintShaderPrepDesc& shaderDesc,
PxSolverConstraintPrepDesc& prepDesc,
PxConstraintAllocator& allocator,
PxReal dt, PxReal invdt);
class ConstraintHelper
{
public:
static PxU32 setupSolverConstraint(
PxSolverConstraintPrepDesc& prepDesc,
PxConstraintAllocator& allocator,
PxReal dt, PxReal invdt);
};
}
}
#endif //DY_CONSTRAINTSHADER_H
|