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#ifndef DY_CONSTRAINT_PREP_H
#define DY_CONSTRAINT_PREP_H

#include "DyConstraint.h"

#include "DySolverConstraintDesc.h"
#include "foundation/PxArray.h"
#include "PxConstraint.h"

namespace physx
{

class PxcConstraintBlockStream;
class PxsConstraintBlockManager;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;

namespace Cm
{
	struct SpatialVectorF;
}

namespace Dy
{

	static const PxU32 MAX_CONSTRAINT_ROWS = 20;

	struct SolverConstraintShaderPrepDesc
	{
		const Constraint* constraint;
		PxConstraintSolverPrep solverPrep;
		const void* constantBlock;
		PxU32 constantBlockByteSize;
	};

	SolverConstraintPrepState::Enum setupSolverConstraint4
		(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
		PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
			const PxReal dt, const PxReal recipdt, PxU32& totalRows,
			 PxConstraintAllocator& allocator, bool residualReportingEnabled);

	SolverConstraintPrepState::Enum setupSolverConstraint4
		(PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
		const PxReal dt, const PxReal recipdt, PxU32& totalRows,
		PxConstraintAllocator& allocator, PxU32 maxRows, bool residualReportingEnabled);

	PxU32 SetupSolverConstraint(SolverConstraintShaderPrepDesc& shaderDesc,
								PxSolverConstraintPrepDesc& prepDesc,
								   PxConstraintAllocator& allocator,
								   PxReal dt, PxReal invdt);


	class ConstraintHelper
	{
	public:

		static PxU32 setupSolverConstraint(
			PxSolverConstraintPrepDesc& prepDesc,
			PxConstraintAllocator& allocator,
			PxReal dt, PxReal invdt);
	};

	template<class PrepDescT>
	PX_FORCE_INLINE void setupConstraintFlags(PrepDescT& prepDesc, PxU16 flags)
	{
		prepDesc.disablePreprocessing	= (flags & PxConstraintFlag::eDISABLE_PREPROCESSING)!=0;
		prepDesc.improvedSlerp			= (flags & PxConstraintFlag::eIMPROVED_SLERP)!=0;
		prepDesc.driveLimitsAreForces	= (flags & PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)!=0;
		prepDesc.extendedLimits			= (flags & PxConstraintFlag::eENABLE_EXTENDED_LIMITS)!=0;
		prepDesc.disableConstraint		= (flags & PxConstraintFlag::eDISABLE_CONSTRAINT)!=0;
	}

	void preprocessRows(Px1DConstraint** sorted,
		Px1DConstraint* rows,
		PxVec4* angSqrtInvInertia0,
		PxVec4* angSqrtInvInertia1,
		PxU32 rowCount,
		const PxMat33& sqrtInvInertia0F32,
		const PxMat33& sqrtInvInertia1F32,
		const PxReal invMass0,
		const PxReal invMass1,
		const PxConstraintInvMassScale& ims,
		bool disablePreprocessing,
		bool diagonalizeDrive);

	PX_FORCE_INLINE	void setupConstraintRows(Px1DConstraint* PX_RESTRICT rows, PxU32 size)
	{
		// This is necessary so that there will be sensible defaults and shaders will
		// continue to work (albeit with a recompile) if the row format changes.
		// It's a bit inefficient because it fills in all constraint rows even if there
		// is only going to be one generated. A way around this would be for the shader to
		// specify the maximum number of rows it needs, or it could call a subroutine to
		// prep the row before it starts filling it it.

		PxMemZero(rows, sizeof(Px1DConstraint)*size);

		for(PxU32 i=0; i<size; i++)
		{
			Px1DConstraint& c = rows[i];
			//Px1DConstraintInit(c);
			c.minImpulse = -PX_MAX_REAL;
			c.maxImpulse = PX_MAX_REAL;
		}
	}
}

}

#endif