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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_SOLVER_CONTACT_PF_4_H
#define DY_SOLVER_CONTACT_PF_4_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;
}
namespace Dy
{
struct SolverContactCoulombHeader4
{
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 numNormalConstr;
PxU16 frictionOffset;
PxU8 numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
PxU8 flags[4];
PxU32 pad; //16
Vec4V restitution; //32
Vec4V normalX; //48
Vec4V normalY; //64
Vec4V normalZ; //80
Vec4V invMassADom; //96
Vec4V invMassBDom; //112
Vec4V angD0; //128
Vec4V angD1; //144
Sc::ShapeInteraction* shapeInteraction[4]; //160 or 176
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 160);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 176);
#endif
struct SolverContact4Base
{
Vec4V raXnX;
Vec4V raXnY;
Vec4V raXnZ;
Vec4V appliedForce;
Vec4V velMultiplier;
Vec4V targetVelocity;
Vec4V scaledBias;
Vec4V maxImpulse;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Base) == 128);
struct SolverContact4Dynamic : public SolverContact4Base
{
Vec4V rbXnX;
Vec4V rbXnY;
Vec4V rbXnZ;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Dynamic) == 176);
struct SolverFrictionHeader4
{
PxU8 type; //Note: mType should be first as the solver expects a type in the first byte.
PxU8 numNormalConstr;
PxU8 numFrictionConstr;
PxU8 numNormalConstr0;
PxU8 numNormalConstr1;
PxU8 numNormalConstr2;
PxU8 numNormalConstr3;
PxU8 numFrictionConstr0;
PxU8 numFrictionConstr1;
PxU8 numFrictionConstr2;
PxU8 numFrictionConstr3;
PxU8 pad0;
PxU32 frictionPerContact;
Vec4V staticFriction;
Vec4V invMassADom;
Vec4V invMassBDom;
Vec4V angD0;
Vec4V angD1;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader4) == 96);
struct SolverFriction4Base
{
Vec4V normalX;
Vec4V normalY;
Vec4V normalZ;
Vec4V raXnX;
Vec4V raXnY;
Vec4V raXnZ;
Vec4V appliedForce;
Vec4V velMultiplier;
Vec4V targetVelocity;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Base) == 144);
struct SolverFriction4Dynamic : public SolverFriction4Base
{
Vec4V rbXnX;
Vec4V rbXnY;
Vec4V rbXnZ;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Dynamic) == 192);
}
}
#endif //DY_SOLVER_CONTACT_PF_4_H
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