55 lines
2.8 KiB
C++
55 lines
2.8 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_SOLVER_CONSTRAINT_EXT_SHARED_H
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#define DY_SOLVER_CONSTRAINT_EXT_SHARED_H
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxVecMath.h"
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#include "DyArticulationContactPrep.h"
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#include "DySolverConstraintDesc.h"
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#include "DySolverConstraint1D.h"
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#include "DySolverContact.h"
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#include "PxcNpWorkUnit.h"
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#include "PxsMaterialManager.h"
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namespace physx
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{
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namespace Dy
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{
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FloatV setupExtSolverContact(const SolverExtBody& b0, const SolverExtBody& b1,
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const FloatV& d0, const FloatV& d1, const FloatV& angD0, const FloatV& angD1, const Vec3V& bodyFrame0p, const Vec3V& bodyFrame1p,
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const Vec3VArg normal, const FloatVArg invDt, const FloatVArg invDtp8, const FloatVArg dt, const FloatVArg restDistance, const FloatVArg maxPenBias, const FloatVArg restitution,
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const FloatVArg bounceThreshold, const PxContactPoint& contact, SolverContactPointExt& solverContact, const FloatVArg ccdMaxSeparation,
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Cm::SpatialVectorF* Z, const Cm::SpatialVectorV& v0, const Cm::SpatialVectorV& v1, const FloatV& cfm, const Vec3VArg solverOffsetSlop,
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const FloatVArg norVel0, const FloatVArg norVel1, const FloatVArg damping, const BoolVArg accelerationSpring);
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} //namespace Dy
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}
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#endif
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