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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_SOLVERCONTACT4_H
#define DY_SOLVERCONTACT4_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "PsVecMath.h"
#include "DySolverContact.h"
namespace physx
{
struct PxcNpWorkUnit;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
namespace Sc
{
class ShapeInteraction;
}
namespace Dy
{
/**
\brief Batched SOA contact data. Note, we don't support batching with extended contacts for the simple reason that handling multiple articulations would be complex.
*/
struct SolverContactHeader4
{
enum
{
eHAS_MAX_IMPULSE = 1 << 0,
eHAS_TARGET_VELOCITY = 1 << 1
};
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 numNormalConstr;
PxU8 numFrictionConstr;
PxU8 flag;
PxU8 flags[4];
//These counts are the max of the 4 sets of data.
//When certain pairs have fewer patches/contacts 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)
//KS - used for write-back only
PxU8 numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
PxU8 numFrictionConstr0, numFrictionConstr1, numFrictionConstr2, numFrictionConstr3;
Vec4V restitution;
Vec4V staticFriction;
Vec4V dynamicFriction;
//Technically, these mass properties could be pulled out into a new structure and shared. For multi-manifold contacts,
//this would save 64 bytes per-manifold after the cost of the first manifold
Vec4V invMass0D0;
Vec4V invMass1D1;
Vec4V angDom0;
Vec4V angDom1;
//Normal is shared between all contacts in the batch. This will save some memory!
Vec4V normalX;
Vec4V normalY;
Vec4V normalZ;
Sc::ShapeInteraction* shapeInteraction[4]; //192 or 208
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 192);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 208);
#endif
/**
\brief This represents a batch of 4 contacts with static rolled into a single structure
*/
struct SolverContactBatchPointBase4
{
Vec4V raXnX;
Vec4V raXnY;
Vec4V raXnZ;
Vec4V velMultiplier;
Vec4V scaledBias;
Vec4V biasedErr;
Vec4V maxContactImpulse;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointBase4) == 112);
/**
\brief Contains the additional data required to represent 4 contacts between 2 dynamic bodies
@see SolverContactBatchPointBase4
*/
struct SolverContactBatchPointDynamic4 : public SolverContactBatchPointBase4
{
Vec4V rbXnX;
Vec4V rbXnY;
Vec4V rbXnZ;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointDynamic4) == 160);
/**
\brief This represents the shared information of a batch of 4 friction constraints
*/
struct SolverFrictionSharedData4
{
BoolV broken;
PxU8* frictionBrokenWritebackByte[4];
Vec4V normalX[2];
Vec4V normalY[2];
Vec4V normalZ[2];
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionSharedData4) == 128);
#endif
/**
\brief This represents a batch of 4 friction constraints with static rolled into a single structure
*/
struct SolverContactFrictionBase4
{
Vec4V raXnX;
Vec4V raXnY;
Vec4V raXnZ;
Vec4V scaledBias;
Vec4V velMultiplier;
Vec4V targetVelocity;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionBase4) == 96);
/**
\brief Contains the additional data required to represent 4 friction constraints between 2 dynamic bodies
@see SolverContactFrictionBase4
*/
struct SolverContactFrictionDynamic4 : public SolverContactFrictionBase4
{
Vec4V rbXnX;
Vec4V rbXnY;
Vec4V rbXnZ;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionDynamic4) == 144);
}
}
#endif //DY_SOLVERCONTACT4_H
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