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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_SOLVERATOM_H
#define DY_SOLVERATOM_H
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
#include "CmPhysXCommon.h"
#include "CmSpatialVector.h"
#include "solver/PxSolverDefs.h"
namespace physx
{
class PxsRigidBody;
struct PxsBodyCore;
namespace Dy
{
//void copyToSolverBodyData(PxSolverBodyData& data, const PxsBodyCore& core, const PxU32 nodeIndex);
void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, const PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
const PxReal maxDepenetrationVelocity, const PxReal maxContactImpulse, const PxU32 nodeIndex, const PxReal reportThreshold, PxSolverBodyData& solverBodyData, PxU32 lockFlags);
}
}
#endif //DY_SOLVERATOM_H
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