1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
|
// 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) 2008-2017 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
|