127 lines
5.1 KiB
C++
127 lines
5.1 KiB
C++
// 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) 2008-2025 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_TGS_CONTACT_PREP_H
|
|
#define DY_TGS_CONTACT_PREP_H
|
|
|
|
#include "foundation/PxPreprocessor.h"
|
|
#include "DySolverConstraintDesc.h"
|
|
#include "PxSceneDesc.h"
|
|
#include "DySolverContact4.h"
|
|
|
|
namespace physx
|
|
{
|
|
struct PxsContactManagerOutput;
|
|
struct PxSolverConstraintDesc;
|
|
|
|
namespace Dy
|
|
{
|
|
class ThreadContext;
|
|
struct CorrelationBuffer;
|
|
|
|
bool createFinalizeSolverContactsStep(PxTGSSolverContactDesc& contactDesc,
|
|
PxsContactManagerOutput& output,
|
|
ThreadContext& threadContext,
|
|
const PxReal invDtF32,
|
|
const PxReal invTotalDtF32,
|
|
const PxReal totalDtF32,
|
|
const PxReal stepDt,
|
|
const PxReal bounceThresholdF32,
|
|
const PxReal frictionOffsetThreshold,
|
|
const PxReal correlationDistance,
|
|
const PxReal biasCoefficient,
|
|
PxConstraintAllocator& constraintAllocator);
|
|
|
|
bool createFinalizeSolverContactsStep(
|
|
PxTGSSolverContactDesc& contactDesc,
|
|
CorrelationBuffer& c,
|
|
const PxReal invDtF32,
|
|
const PxReal invTotalDtF32,
|
|
const PxReal totalDtF32,
|
|
const PxReal dtF32,
|
|
const PxReal bounceThresholdF32,
|
|
const PxReal frictionOffsetThreshold,
|
|
const PxReal correlationDistance,
|
|
const PxReal biasCoefficient,
|
|
PxConstraintAllocator& constraintAllocator);
|
|
|
|
SolverConstraintPrepState::Enum setupSolverConstraintStep4
|
|
(PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
|
|
const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
|
|
PxConstraintAllocator& allocator, PxU32 maxRows,
|
|
const PxReal lengthScale, const PxReal biasCoefficient, bool isResidualReportingEnabled);
|
|
|
|
PxU32 SetupSolverConstraintStep(SolverConstraintShaderPrepDesc& shaderDesc,
|
|
PxTGSSolverConstraintPrepDesc& prepDesc,
|
|
PxConstraintAllocator& allocator,
|
|
const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
|
|
const PxReal lengthScale, const PxReal biasCoefficient);
|
|
|
|
PxU32 setupSolverConstraintStep(
|
|
const PxTGSSolverConstraintPrepDesc& prepDesc,
|
|
PxConstraintAllocator& allocator,
|
|
const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
|
|
const PxReal lengthScale, const PxReal biasCoefficient);
|
|
|
|
SolverConstraintPrepState::Enum setupSolverConstraintStep4
|
|
(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
|
|
PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
|
|
const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
|
|
PxConstraintAllocator& allocator, const PxReal lengthScale, const PxReal biasCoefficient, bool isResidualReportingEnabled);
|
|
|
|
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
|
|
PxsContactManagerOutput** cmOutputs,
|
|
ThreadContext& threadContext,
|
|
PxTGSSolverContactDesc* blockDescs,
|
|
const PxReal invDtF32,
|
|
const PxReal totalDtF32,
|
|
const PxReal invTotalDtF32,
|
|
const PxReal dt,
|
|
const PxReal bounceThresholdF32,
|
|
const PxReal frictionOffsetThreshold,
|
|
const PxReal correlationDistance,
|
|
const PxReal biasCoefficient,
|
|
PxConstraintAllocator& constraintAllocator);
|
|
|
|
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
|
|
Dy::CorrelationBuffer& c,
|
|
PxTGSSolverContactDesc* blockDescs,
|
|
const PxReal invDtF32,
|
|
const PxReal totalDt,
|
|
const PxReal invTotalDtF32,
|
|
const PxReal dt,
|
|
const PxReal bounceThresholdF32,
|
|
const PxReal frictionOffsetThreshold,
|
|
const PxReal correlationDistance,
|
|
const PxReal biasCoefficient,
|
|
PxConstraintAllocator& constraintAllocator);
|
|
}
|
|
}
|
|
|
|
#endif
|