75 lines
3.8 KiB
C++
75 lines
3.8 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_H
|
|
#define DY_TGS_H
|
|
|
|
#include "foundation/PxPreprocessor.h"
|
|
|
|
namespace physx
|
|
{
|
|
struct PxConstraintBatchHeader;
|
|
struct PxSolverConstraintDesc;
|
|
struct PxTGSSolverBodyTxInertia;
|
|
struct PxTGSSolverBodyData;
|
|
struct PxTGSSolverBodyVel;
|
|
|
|
namespace Dy
|
|
{
|
|
struct SolverContext;
|
|
|
|
// PT: using defines like we did in Gu (GU_OVERLAP_FUNC_PARAMS, etc). Additionally this gives a
|
|
// convenient way to find the TGS solver methods, which are scattered in different files and use
|
|
// the same function names as other functions (with a different signature).
|
|
|
|
#define DY_TGS_SOLVE_METHOD_PARAMS const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, const PxTGSSolverBodyTxInertia* const txInertias, PxReal minPenetration, PxReal elapsedTime, SolverContext& cache
|
|
#define DY_TGS_CONCLUDE_METHOD_PARAMS const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, const PxTGSSolverBodyTxInertia* const txInertias, PxReal elapsedTime, SolverContext& cache
|
|
#define DY_TGS_WRITEBACK_METHOD_PARAMS const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, SolverContext* cache
|
|
|
|
typedef void (*TGSSolveBlockMethod) (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
typedef void (*TGSSolveConcludeMethod) (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
typedef void (*TGSWriteBackMethod) (DY_TGS_WRITEBACK_METHOD_PARAMS);
|
|
|
|
extern TGSSolveBlockMethod g_SolveTGSMethods[];
|
|
extern TGSSolveConcludeMethod g_SolveConcludeTGSMethods[];
|
|
extern TGSWriteBackMethod g_WritebackTGSMethods[];
|
|
|
|
// PT: also used by immediate mode
|
|
void copyToSolverBodyDataStep(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
|
|
PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold,
|
|
PxReal maxAngVelSq, PxU32 lockFlags, bool isKinematic,
|
|
PxTGSSolverBodyVel& solverVel, PxTGSSolverBodyTxInertia& solverBodyTxInertia, PxTGSSolverBodyData& solverBodyData,
|
|
PxReal dt, bool gyroscopicForces);
|
|
|
|
// PT: also used by immediate mode
|
|
void integrateCoreStep(PxTGSSolverBodyVel& vel, PxTGSSolverBodyTxInertia& txInertia, PxF32 dt);
|
|
}
|
|
}
|
|
|
|
#endif
|