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
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
//
// 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_SOLVERCONSTRAINT1D4_H
#define DY_SOLVERCONSTRAINT1D4_H
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "DyArticulationUtils.h"
#include "DySolverConstraint1D.h"
namespace physx
{
namespace Dy
{
struct SolverConstraint1DHeader4
{
PxU8 type; // enum SolverConstraintType - must be first byte
PxU8 pad0[3];
//These counts are the max of the 4 sets of data.
//When certain pairs have fewer constraints than others, they are padded with 0s so that no work is performed but
//calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
PxU32 count;
PxU8 count0, count1, count2, count3;
PxU8 break0, break1, break2, break3;
Vec4V linBreakImpulse;
Vec4V angBreakImpulse;
Vec4V invMass0D0;
Vec4V invMass1D1;
Vec4V angD0;
Vec4V angD1;
Vec4V body0WorkOffsetX;
Vec4V body0WorkOffsetY;
Vec4V body0WorkOffsetZ;
};
struct SolverConstraint1DBase4
{
public:
Vec4V lin0X;
Vec4V lin0Y;
Vec4V lin0Z;
Vec4V ang0X;
Vec4V ang0Y;
Vec4V ang0Z;
Vec4V ang0WritebackX;
Vec4V ang0WritebackY;
Vec4V ang0WritebackZ;
Vec4V constant;
Vec4V unbiasedConstant;
Vec4V velMultiplier;
Vec4V impulseMultiplier;
Vec4V minImpulse;
Vec4V maxImpulse;
Vec4V appliedForce;
PxU32 flags[4];
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DBase4) == 272);
struct SolverConstraint1DDynamic4 : public SolverConstraint1DBase4
{
Vec4V lin1X;
Vec4V lin1Y;
Vec4V lin1Z;
Vec4V ang1X;
Vec4V ang1Y;
Vec4V ang1Z;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DDynamic4) == 368);
}
}
#endif //DY_SOLVERCONSTRAINT1D4_H
|