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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_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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