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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) 2008-2016 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_SOLVERCONTACT_H
#define DY_SOLVERCONTACT_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "PsVecMath.h"
namespace physx
{
using namespace Ps::aos;
namespace Sc
{
class ShapeInteraction;
}
/**
\brief A header to represent a friction patch for the solver.
*/
namespace Dy
{
struct SolverContactHeader
{
enum DySolverContactFlags
{
eHAS_FORCE_THRESHOLDS = 0x1
};
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 flags;
PxU8 numNormalConstr;
PxU8 numFrictionConstr; //4
PxReal angDom0; //8
PxReal angDom1; //12
PxReal invMass0; //16
Vec4V staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W; //32
Vec3V normal; //48
PxReal invMass1; //52
PxU32 broken; //56
PxU8* frictionBrokenWritebackByte; //60 64
Sc::ShapeInteraction* shapeInteraction; //64 72
#if PX_P64_FAMILY
PxU32 pad[2]; //64 80
#endif // PX_X64
PX_FORCE_INLINE void setStaticFriction(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
PX_FORCE_INLINE void setDynamicFriction(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
PX_FORCE_INLINE void setDominance0(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
PX_FORCE_INLINE void setDominance1(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
PX_FORCE_INLINE FloatV getStaticFriction() const {return V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE FloatV getDynamicFriction() const {return V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE FloatV getDominance0() const {return V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE FloatV getDominance1() const {return V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE void setStaticFriction(PxF32 f) {V4WriteX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
PX_FORCE_INLINE void setDynamicFriction(PxF32 f) {V4WriteY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
PX_FORCE_INLINE void setDominance0(PxF32 f) {V4WriteZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
PX_FORCE_INLINE void setDominance1(PxF32 f) {V4WriteW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const {return V4ReadX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE PxF32 getDynamicFrictionPxF32() const {return V4ReadY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE PxF32 getDominance0PxF32() const {return V4ReadZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
PX_FORCE_INLINE PxF32 getDominance1PxF32() const {return V4ReadW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 64);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 80);
#endif
/**
\brief A single rigid body contact point for the solver.
*/
struct SolverContactPoint
{
Vec3V raXn;
Vec3V rbXn;
PxF32 velMultiplier;
PxF32 biasedErr;
PxF32 unbiasedErr;
PxF32 maxImpulse;
PX_FORCE_INLINE FloatV getVelMultiplier() const {return FLoad(velMultiplier);}
PX_FORCE_INLINE FloatV getBiasedErr() const {return FLoad(biasedErr);}
PX_FORCE_INLINE FloatV getMaxImpulse() const {return FLoad(maxImpulse);}
#ifdef PX_SUPPORT_SIMD
PX_FORCE_INLINE Vec3V getRaXn() const {return raXn;}
PX_FORCE_INLINE Vec3V getRbXn() const {return rbXn;}
#endif
PX_FORCE_INLINE void setRaXn(const PxVec3& v) {V3WriteXYZ(raXn, v);}
PX_FORCE_INLINE void setRbXn(const PxVec3& v) {V3WriteXYZ(rbXn, v);}
PX_FORCE_INLINE void setVelMultiplier(PxF32 f) {velMultiplier = f;}
PX_FORCE_INLINE void setBiasedErr(PxF32 f) {biasedErr = f;}
PX_FORCE_INLINE void setUnbiasedErr(PxF32 f) {unbiasedErr = f;}
PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const {return velMultiplier;}
PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const {return V3ReadXYZ(raXn);}
PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const {return V3ReadXYZ(rbXn);}
PX_FORCE_INLINE PxF32 getBiasedErrPxF32() const {return biasedErr;}
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPoint) == 48);
/**
\brief A single extended articulation contact point for the solver.
*/
struct SolverContactPointExt : public SolverContactPoint
{
Vec3V linDeltaVA;
Vec3V angDeltaVA;
Vec3V linDeltaVB;
Vec3V angDeltaVB;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPointExt) == 112);
/**
\brief A single friction constraint for the solver.
*/
struct SolverContactFriction
{
Vec4V normalXYZ_appliedForceW; //16
Vec4V raXnXYZ_velMultiplierW; //32
Vec4V rbXnXYZ_biasW; //48
PxReal targetVel; //52
PxU32 mPad[3]; //64
PX_FORCE_INLINE void setAppliedForce(const FloatV f) {normalXYZ_appliedForceW=V4SetW(normalXYZ_appliedForceW,f);}
PX_FORCE_INLINE void setVelMultiplier(const FloatV f) {raXnXYZ_velMultiplierW=V4SetW(raXnXYZ_velMultiplierW,f);}
PX_FORCE_INLINE void setBias(const FloatV f) {rbXnXYZ_biasW=V4SetW(rbXnXYZ_biasW,f);}
PX_FORCE_INLINE FloatV getAppliedForce() const {return V4GetW(normalXYZ_appliedForceW);}
PX_FORCE_INLINE FloatV getVelMultiplier() const {return V4GetW(raXnXYZ_velMultiplierW);}
PX_FORCE_INLINE FloatV getBias() const {return V4GetW(rbXnXYZ_biasW);}
#ifdef PX_SUPPORT_SIMD
PX_FORCE_INLINE Vec3V getNormal() const {return Vec3V_From_Vec4V(normalXYZ_appliedForceW);}
PX_FORCE_INLINE Vec3V getRaXn() const {return Vec3V_From_Vec4V(raXnXYZ_velMultiplierW);}
PX_FORCE_INLINE Vec3V getRbXn() const {return Vec3V_From_Vec4V(rbXnXYZ_biasW);}
#endif
PX_FORCE_INLINE void setNormal(const PxVec3& v) {V4WriteXYZ(normalXYZ_appliedForceW, v);}
PX_FORCE_INLINE void setRaXn(const PxVec3& v) {V4WriteXYZ(raXnXYZ_velMultiplierW, v);}
PX_FORCE_INLINE void setRbXn(const PxVec3& v) {V4WriteXYZ(rbXnXYZ_biasW, v);}
PX_FORCE_INLINE const PxVec3& getNormalPxVec3() const {return V4ReadXYZ(normalXYZ_appliedForceW);}
PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const {return V4ReadXYZ(raXnXYZ_velMultiplierW);}
PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const {return V4ReadXYZ(rbXnXYZ_biasW);}
PX_FORCE_INLINE void setAppliedForce(PxF32 f) {V4WriteW(normalXYZ_appliedForceW, f);}
PX_FORCE_INLINE void setVelMultiplier(PxF32 f) {V4WriteW(raXnXYZ_velMultiplierW, f);}
PX_FORCE_INLINE void setBias(PxF32 f) {V4WriteW(rbXnXYZ_biasW, f);}
PX_FORCE_INLINE PxF32 getAppliedForcePxF32() const {return V4ReadW(normalXYZ_appliedForceW);}
PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const {return V4ReadW(raXnXYZ_velMultiplierW);}
PX_FORCE_INLINE PxF32 getBiasPxF32() const {return V4ReadW(rbXnXYZ_biasW);}
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFriction) == 64);
/**
\brief A single extended articulation friction constraint for the solver.
*/
struct SolverContactFrictionExt : public SolverContactFriction
{
Vec3V linDeltaVA;
Vec3V angDeltaVA;
Vec3V linDeltaVB;
Vec3V angDeltaVB;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionExt) == 128);
}
}
#endif //DY_SOLVERCONTACT_H
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