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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// 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_CONTACTPREP_H
#define DY_CONTACTPREP_H
#include "DySolverConstraintDesc.h"
#include "PxSceneDesc.h"
#include "DySolverContact4.h"
namespace physx
{
struct PxcNpWorkUnit;
class PxsConstraintBlockManager;
struct PxsContactManagerOutput;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
namespace Dy
{
class ThreadContext;
struct CorrelationBuffer;
#define CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS \
PxSolverContactDesc& contactDesc, \
PxsContactManagerOutput& output, \
ThreadContext& threadContext, \
const PxReal invDtF32, \
PxReal bounceThresholdF32, \
PxReal frictionOffsetThreshold, \
PxReal correlationDistance, \
PxReal solverOffsetSlop, \
PxConstraintAllocator& constraintAllocator
#define CREATE_FINALIZE_SOVLER_CONTACT_METHOD_ARGS_4 \
PxsContactManagerOutput** outputs, \
ThreadContext& threadContext, \
PxSolverContactDesc* blockDescs, \
const PxReal invDtF32, \
PxReal bounceThresholdF32, \
PxReal frictionThresholdF32, \
PxReal correlationDistanceF32, \
PxReal solverOffsetSlopF32, \
PxConstraintAllocator& constraintAllocator
/*!
Method prototype for create finalize solver contact
*/
typedef bool (*PxcCreateFinalizeSolverContactMethod)(CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS);
extern PxcCreateFinalizeSolverContactMethod createFinalizeMethods[3];
typedef SolverConstraintPrepState::Enum (*PxcCreateFinalizeSolverContactMethod4)(CREATE_FINALIZE_SOVLER_CONTACT_METHOD_ARGS_4);
extern PxcCreateFinalizeSolverContactMethod4 createFinalizeMethods4[3];
bool createFinalizeSolverContacts( PxSolverContactDesc& contactDesc,
PxsContactManagerOutput& output,
ThreadContext& threadContext,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
bool createFinalizeSolverContacts( PxSolverContactDesc& contactDesc,
CorrelationBuffer& c,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
SolverConstraintPrepState::Enum createFinalizeSolverContacts4( PxsContactManagerOutput** outputs,
ThreadContext& threadContext,
PxSolverContactDesc* blockDescs,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
SolverConstraintPrepState::Enum createFinalizeSolverContacts4( Dy::CorrelationBuffer& c,
PxSolverContactDesc* blockDescs,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
bool createFinalizeSolverContactsCoulomb1D(PxSolverContactDesc& contactDesc,
PxsContactManagerOutput& output,
ThreadContext& threadContext,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
bool createFinalizeSolverContactsCoulomb2D(PxSolverContactDesc& contactDesc,
PxsContactManagerOutput& output,
ThreadContext& threadContext,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb1D( PxsContactManagerOutput** outputs,
ThreadContext& threadContext,
PxSolverContactDesc* blockDescs,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb2D(PxsContactManagerOutput** outputs,
ThreadContext& threadContext,
PxSolverContactDesc* blockDescs,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal frictionOffsetThreshold,
PxReal correlationDistance,
PxReal solverOffsetSlop,
PxConstraintAllocator& constraintAllocator);
PxU32 getContactManagerConstraintDesc(const PxsContactManagerOutput& cmOutput, const PxsContactManager& cm, PxSolverConstraintDesc& desc);
}
}
#endif //DY_CONTACTPREP_H
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