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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_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
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