103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef DY_CONSTRAINTSHADER_H
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#define DY_CONSTRAINTSHADER_H
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#include "DyConstraint.h"
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#include "DySolverConstraintDesc.h"
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#include "PsArray.h"
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#define DY_ARTICULATION_MIN_RESPONSE 1e-5f
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#define DY_ARTICULATION_CFM 1e-4f
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#define DY_ARTICULATION_BAD_RESPONSE 0.02f
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namespace physx
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{
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class PxcConstraintBlockStream;
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class PxsConstraintBlockManager;
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struct PxSolverBody;
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struct PxSolverBodyData;
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struct PxSolverConstraintDesc;
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namespace Cm
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{
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struct SpatialVectorF;
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}
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namespace Dy
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{
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static const PxU32 MAX_CONSTRAINT_ROWS = 12;
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struct SolverConstraintShaderPrepDesc
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{
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const Constraint* constraint;
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PxConstraintSolverPrep solverPrep;
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const void* constantBlock;
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PxU32 constantBlockByteSize;
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};
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SolverConstraintPrepState::Enum setupSolverConstraint4
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(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
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PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
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const PxReal dt, const PxReal recipdt, PxU32& totalRows,
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PxConstraintAllocator& allocator);
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SolverConstraintPrepState::Enum setupSolverConstraint4
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(PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
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const PxReal dt, const PxReal recipdt, PxU32& totalRows,
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PxConstraintAllocator& allocator, PxU32 maxRows);
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PxU32 SetupSolverConstraint(SolverConstraintShaderPrepDesc& shaderDesc,
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PxSolverConstraintPrepDesc& prepDesc,
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PxConstraintAllocator& allocator,
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PxReal dt, PxReal invdt, Cm::SpatialVectorF* Z);
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class ConstraintHelper
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{
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public:
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static PxU32 setupSolverConstraint(
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PxSolverConstraintPrepDesc& prepDesc,
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PxConstraintAllocator& allocator,
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PxReal dt, PxReal invdt, Cm::SpatialVectorF* Z);
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};
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}
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}
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#endif //DY_CONSTRAINTSHADER_H
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