117 lines
3.6 KiB
C++
117 lines
3.6 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_1D4_H
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#define DY_SOLVER_CONSTRAINT_1D4_H
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#include "foundation/PxVec3.h"
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#include "PxvConfig.h"
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#include "DySolverConstraint1D.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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struct SolverConstraint1DHeader4
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{
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PxU8 type; // enum SolverConstraintType - must be first byte
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PxU8 pad0[3];
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//These counts are the max of the 4 sets of data.
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//When certain pairs have fewer constraints than others, they are padded with 0s so that no work is performed but
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//calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
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PxU32 count;
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PxU8 count0, count1, count2, count3;
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PxU8 break0, break1, break2, break3;
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aos::Vec4V linBreakImpulse;
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aos::Vec4V angBreakImpulse;
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aos::Vec4V invMass0D0;
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aos::Vec4V invMass1D1;
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aos::Vec4V angD0;
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aos::Vec4V angD1;
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aos::Vec4V body0WorkOffsetX;
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aos::Vec4V body0WorkOffsetY;
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aos::Vec4V body0WorkOffsetZ;
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};
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struct SolverConstraint1DBase4
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{
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public:
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aos::Vec4V lin0X;
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aos::Vec4V lin0Y;
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aos::Vec4V lin0Z;
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aos::Vec4V ang0X;
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aos::Vec4V ang0Y;
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aos::Vec4V ang0Z;
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aos::Vec4V ang0WritebackX;
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aos::Vec4V ang0WritebackY;
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aos::Vec4V ang0WritebackZ;
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aos::Vec4V constant;
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aos::Vec4V unbiasedConstant;
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aos::Vec4V velMultiplier;
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aos::Vec4V impulseMultiplier;
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aos::Vec4V minImpulse;
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aos::Vec4V maxImpulse;
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aos::Vec4V appliedForce;
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PxU32 flags[4];
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};
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struct SolverConstraint1DBase4WithResidual : public SolverConstraint1DBase4
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{
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aos::Vec4V residualVelIter;
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aos::Vec4V residualPosIter;
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};
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PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DBase4) == 272);
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struct SolverConstraint1DDynamic4 : public SolverConstraint1DBase4
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{
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aos::Vec4V lin1X;
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aos::Vec4V lin1Y;
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aos::Vec4V lin1Z;
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aos::Vec4V ang1X;
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aos::Vec4V ang1Y;
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aos::Vec4V ang1Z;
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};
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PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DDynamic4) == 368);
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struct SolverConstraint1DDynamic4WithResidual : public SolverConstraint1DDynamic4
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{
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aos::Vec4V residualVelIter;
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aos::Vec4V residualPosIter;
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};
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}
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}
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#endif
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