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#ifndef PXD_SHADER_H
#define PXD_SHADER_H

#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "PxvConfig.h"
#include "PxvDynamics.h"
#include "PxConstraint.h"
#include "DyConstraintWriteBack.h"

namespace physx
{

class PxsRigidBody;

namespace Dy
{

#if PX_VC 
    #pragma warning(push)
	#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
PX_ALIGN_PREFIX(16)
struct Constraint
{
public:

	PxReal					linBreakForce;			//0
	PxReal					angBreakForce;			//4
	PxU16					constantBlockSize;		//6
	PxU16					flags;					//8

	PxConstraintSolverPrep	solverPrep;				//12
	PxConstraintProject		project;				//16
	void*					constantBlock;			//20

	PxsRigidBody*			body0;					//24
	PxsRigidBody*			body1;					//28

	PxsBodyCore*			bodyCore0;				//32
	PxsBodyCore*			bodyCore1;				//36
	PxU32					index;					//40 //this is also a constraint write back index
	PxReal					minResponseThreshold;	//44
}
PX_ALIGN_SUFFIX(16);
#if PX_VC 
     #pragma warning(pop) 
#endif

#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(48==sizeof(Constraint));
#endif

}

}

#endif