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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_SOLVERCONTACTPF_H
#define DY_SOLVERCONTACTPF_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "PsVecMath.h"
namespace physx
{
using namespace Ps::aos;
namespace Dy
{
struct SolverContactCoulombHeader
{
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 numNormalConstr;
PxU16 frictionOffset; //4
//PxF32 restitution;
PxF32 angDom0; //8
PxF32 dominance0; //12
PxF32 dominance1; //16
PX_ALIGN(16, PxVec3 normalXYZ); //28
PxF32 angDom1; //32
Sc::ShapeInteraction* shapeInteraction; //36 40
PxU8 flags; //37 41
PxU8 pad0[3]; //40 44
#if !PX_P64_FAMILY
PxU32 pad1[2]; //48
#else
PxU32 pad1; // 48
#endif
PX_FORCE_INLINE void setDominance0(const FloatV f) {FStore(f, &dominance0);}
PX_FORCE_INLINE void setDominance1(const FloatV f) {FStore(f, &dominance1);}
PX_FORCE_INLINE void setNormal(const Vec3V n) {V3StoreA(n, normalXYZ);}
PX_FORCE_INLINE FloatV getDominance0() const {return FLoad(dominance0);}
PX_FORCE_INLINE FloatV getDominance1() const {return FLoad(dominance1);}
//PX_FORCE_INLINE FloatV getRestitution() const {return FLoad(restitution);}
PX_FORCE_INLINE Vec3V getNormal()const {return V3LoadA(normalXYZ);}
PX_FORCE_INLINE void setDominance0(PxF32 f) { dominance0 = f; }
PX_FORCE_INLINE void setDominance1(PxF32 f) { dominance1 = f;}
//PX_FORCE_INLINE void setRestitution(PxF32 f) { restitution = f;}
PX_FORCE_INLINE PxF32 getDominance0PxF32() const {return dominance0;}
PX_FORCE_INLINE PxF32 getDominance1PxF32() const {return dominance1;}
//PX_FORCE_INLINE PxF32 getRestitutionPxF32() const {return restitution;}
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader) == 48);
struct SolverFrictionHeader
{
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 numNormalConstr;
PxU8 numFrictionConstr;
PxU8 flags;
PxF32 staticFriction;
PxF32 invMass0D0;
PxF32 invMass1D1;
PxF32 angDom0;
PxF32 angDom1;
PxU32 pad2[2];
PX_FORCE_INLINE void setStaticFriction(const FloatV f) {FStore(f, &staticFriction);}
PX_FORCE_INLINE FloatV getStaticFriction() const {return FLoad(staticFriction);}
PX_FORCE_INLINE void setStaticFriction(PxF32 f) {staticFriction = f;}
PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const {return staticFriction;}
PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize() const {return sizeof(PxU32)*((4 * ((numNormalConstr + 3)/4)));}
static PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize(const PxU32 numConstr) {return sizeof(PxU32)*((4 * ((numConstr + 3)/4)));}
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader) == 32);
}
}
#endif //DY_SOLVERCONTACTPF_H
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