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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_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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