205 lines
8.0 KiB
C++
205 lines
8.0 KiB
C++
// 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) 2008-2025 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_CONTACT_PREP_H
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#define DY_CONTACT_PREP_H
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#include "CmSpatialVector.h"
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#include "DySolverConstraintDesc.h"
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namespace physx
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{
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struct PxcNpWorkUnit;
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class PxsConstraintBlockManager;
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class PxcConstraintBlockStream;
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struct PxsContactManagerOutput;
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class FrictionPatchStreamPair;
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struct PxSolverBody;
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struct PxSolverBodyData;
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struct PxSolverConstraintDesc;
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class PxsContactManager;
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namespace Dy
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{
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class ThreadContext;
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struct CorrelationBuffer;
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#define CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS \
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PxSolverContactDesc& contactDesc, \
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PxsContactManagerOutput& output, \
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ThreadContext& threadContext, \
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const PxReal invDtF32, \
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const PxReal dtF32, \
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PxReal bounceThresholdF32, \
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PxReal frictionOffsetThreshold, \
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PxReal correlationDistance, \
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PxConstraintAllocator& constraintAllocator, \
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Cm::SpatialVectorF* Z
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#define CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS_4 \
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PxsContactManagerOutput** outputs, \
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ThreadContext& threadContext, \
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PxSolverContactDesc* blockDescs, \
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const PxReal invDtF32, \
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const PxReal dtF32, \
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PxReal bounceThresholdF32, \
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PxReal frictionThresholdF32, \
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PxReal correlationDistanceF32, \
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PxConstraintAllocator& constraintAllocator
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/*!
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Method prototype for create finalize solver contact
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*/
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typedef bool (*PxcCreateFinalizeSolverContactMethod)(CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS);
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typedef SolverConstraintPrepState::Enum (*PxcCreateFinalizeSolverContactMethod4)(CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS_4);
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bool createFinalizeSolverContacts( PxSolverContactDesc& contactDesc,
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PxsContactManagerOutput& output,
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ThreadContext& threadContext,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator,
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Cm::SpatialVectorF* Z);
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bool createFinalizeSolverContacts( PxSolverContactDesc& contactDesc,
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CorrelationBuffer& c,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator,
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Cm::SpatialVectorF* Z);
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SolverConstraintPrepState::Enum createFinalizeSolverContacts4( PxsContactManagerOutput** outputs,
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ThreadContext& threadContext,
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PxSolverContactDesc* blockDescs,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator);
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SolverConstraintPrepState::Enum createFinalizeSolverContacts4( Dy::CorrelationBuffer& c,
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PxSolverContactDesc* blockDescs,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator);
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bool createFinalizeSolverContactsCoulomb1D(PxSolverContactDesc& contactDesc,
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PxsContactManagerOutput& output,
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ThreadContext& threadContext,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator,
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Cm::SpatialVectorF* Z);
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bool createFinalizeSolverContactsCoulomb2D(PxSolverContactDesc& contactDesc,
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PxsContactManagerOutput& output,
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ThreadContext& threadContext,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator,
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Cm::SpatialVectorF* Z);
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SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb1D( PxsContactManagerOutput** outputs,
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ThreadContext& threadContext,
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PxSolverContactDesc* blockDescs,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator);
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SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb2D(PxsContactManagerOutput** outputs,
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ThreadContext& threadContext,
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PxSolverContactDesc* blockDescs,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal frictionOffsetThreshold,
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PxReal correlationDistance,
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PxConstraintAllocator& constraintAllocator);
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PxU32 getContactManagerConstraintDesc(const PxsContactManagerOutput& cmOutput, const PxsContactManager& cm, PxSolverConstraintDesc& desc);
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template <typename SolverContactDesc>
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void updateFrictionAnchorCountAndPosition(PxSolverConstraintDesc& desc, PxsContactManagerOutput& output, SolverContactDesc& blockDesc);
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template <typename SolverFriction>
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void writeBackContactFriction(const SolverFriction* PX_RESTRICT frictions, PxU32 numFrictionConstr, PxU32 frictionStride, PxVec3* PX_RESTRICT vFrictionWriteback);
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class BlockAllocator : public PxConstraintAllocator
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{
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PxsConstraintBlockManager& mConstraintBlockManager;
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PxcConstraintBlockStream& mConstraintBlockStream;
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FrictionPatchStreamPair& mFrictionPatchStreamPair;
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PxU32& mTotalConstraintByteSize;
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public:
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BlockAllocator(PxsConstraintBlockManager& constraintBlockManager, PxcConstraintBlockStream& constraintBlockStream, FrictionPatchStreamPair& frictionPatchStreamPair,
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PxU32& totalConstraintByteSize) :
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mConstraintBlockManager(constraintBlockManager), mConstraintBlockStream(constraintBlockStream), mFrictionPatchStreamPair(frictionPatchStreamPair),
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mTotalConstraintByteSize(totalConstraintByteSize)
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{
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}
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virtual PxU8* reserveConstraintData(const PxU32 size);
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virtual PxU8* reserveFrictionData(const PxU32 size);
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virtual PxU8* findInputPatches(PxU8* frictionCookie)
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{
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return frictionCookie;
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}
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PX_NOCOPY(BlockAllocator)
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};
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}
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}
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#endif
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