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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_SOLVERCONSTRAINTDESC_H
#define DY_SOLVERCONSTRAINTDESC_H
#include "PxvConfig.h"
#include "DySolverConstraintTypes.h"
#include "PsUtilities.h"
#include "PxConstraintDesc.h"
#include "solver/PxSolverDefs.h"
namespace physx
{
struct PxcNpWorkUnit;
struct PxsContactManagerOutput;
namespace Cm
{
class SpatialVector;
}
struct PxSolverBody;
struct PxSolverBodyData;
namespace Dy
{
struct FsData;
// dsequeira: moved this articulation stuff here to sever a build dep on Articulation.h through DyThreadContext.h and onward
struct SelfConstraintBlock
{
PxU32 startId;
PxU32 numSelfConstraints;
PxU16 fsDataLength;
PxU16 requiredSolverProgress;
uintptr_t eaFsData;
};
//This class rolls together multiple contact managers into a single contact manager.
struct CompoundContactManager
{
PxU32 mStartIndex;
PxU16 mStride;
PxU16 mReducedContactCount;
PxcNpWorkUnit* unit; //This is a work unit but the contact buffer has been adjusted to contain all the contacts for all the subsequent pairs
PxsContactManagerOutput* cmOutput;
PxU8* originalContactPatches; //This is the original contact buffer that we replaced with a combined buffer
PxU8* originalContactPoints;
PxU8 originalContactCount;
PxU8 originalPatchCount;
PxU8 originalStatusFlags;
PxReal* originalForceBuffer; //This is the original force buffer that we replaced with a combined force buffer
PxU16* forceBufferList; //This is a list of indices from the reduced force buffer to the original force buffers - we need this to fix up the write-backs from the solver
};
struct SolverConstraintPrepState
{
enum Enum
{
eOUT_OF_MEMORY,
eUNBATCHABLE,
eSUCCESS
};
};
PX_FORCE_INLINE bool isArticulationConstraint(const PxSolverConstraintDesc& desc)
{
return desc.linkIndexA != PxSolverConstraintDesc::NO_LINK ||
desc.linkIndexB != PxSolverConstraintDesc::NO_LINK;
}
PX_FORCE_INLINE void setConstraintLength(PxSolverConstraintDesc& desc, const PxU32 constraintLength)
{
PX_ASSERT(0==(constraintLength & 0x0f));
PX_ASSERT(constraintLength <= PX_MAX_U16 * 16);
desc.constraintLengthOver16 = Ps::to16(constraintLength >> 4);
}
PX_FORCE_INLINE void setWritebackLength(PxSolverConstraintDesc& desc, const PxU32 writeBackLength)
{
PX_ASSERT(0==(writeBackLength & 0x03));
PX_ASSERT(writeBackLength <= PX_MAX_U16 * 4);
desc.writeBackLengthOver4 = Ps::to16(writeBackLength >> 2);
}
PX_FORCE_INLINE PxU32 getConstraintLength(const PxSolverConstraintDesc& desc)
{
return PxU32(desc.constraintLengthOver16 << 4);
}
PX_FORCE_INLINE PxU32 getWritebackLength(const PxSolverConstraintDesc& desc)
{
return PxU32(desc.writeBackLengthOver4 << 2);
}
PX_COMPILE_TIME_ASSERT(0 == (0x0f & sizeof(PxSolverConstraintDesc)));
#define MAX_PERMITTED_SOLVER_PROGRESS 0xFFFF
}
}
#endif //DY_SOLVERCONSTRAINTDESC_H
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