125 lines
4.1 KiB
C++
125 lines
4.1 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 PXG_CONSTRAINT_PREP_H
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#define PXG_CONSTRAINT_PREP_H
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#include "PxConstraintDesc.h"
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#include "PxgSolverConstraintDesc.h"
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#include "PxgD6JointData.h"
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#include "AlignedTransform.h"
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#include "PxcNpWorkUnit.h"
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namespace physx
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{
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typedef PxcNpWorkUnitFlag PxgNpWorkUnitFlag;
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struct PxgSolverBody;
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struct PxgSolverBodyData;
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struct PxgSolverConstraintDesc;
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//This structure can update everyframe
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struct PxgConstraintPrePrep
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{
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public:
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PxNodeIndex mNodeIndexA; //8 8
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PxNodeIndex mNodeIndexB; //16 8
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PxU32 mFlags; //20 4
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float mLinBreakForce; //24 4
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float mAngBreakForce; //28 4
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};
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struct PxgConstraintData
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{
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PxgConstraintInvMassScale mInvMassScale; //16
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float4 mRaWorld_linBreakForceW; //16
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float4 mRbWorld_angBreakForceW; //16
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uint4 mNumRows_Flags_StartIndex; //16
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};
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struct PxgBlockConstraint1DData
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{
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PX_ALIGN(256, PxgConstraintInvMassScale mInvMassScale[32]); //512 512
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PX_ALIGN(256, float4 mRAWorld_linBreakForce[32]); //1024 512
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PX_ALIGN(256, float4 mRBWorld_AngBreakForce[32]); //1152 128
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PX_ALIGN(128, PxU32 mNumRows[32]); //1284 128
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PX_ALIGN(128, PxU32 mFlags[32]); //1412 128
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};
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struct PxgConstraint1DData
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{
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PxgConstraintInvMassScale mInvMassScale; //16 16
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float4 mBody0WorldOffset_linBreakForce; //16 32
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float mAngBreakForce; //4 36
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PxU32 mNumRows; //4 40
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PxU32 mFlags; //4 44
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PxU32 mPadding; //4 48
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};
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struct /*__device_builtin__*/ __builtin_align__(16) PxgMaterialContactData
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{
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PxReal restDistance; //4 4
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PxReal staticFriction; //8 4
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PxReal dynamicFriction; //12 4
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PxU8 mNumContacts; //13 1
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PxU8 mSolverFlags; //14 1
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PxU8 prevFrictionPatchCount; //15 1
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PxU8 pad; //16 1
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};
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struct PxgBlockContactData
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{
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PX_ALIGN(128, PxgConstraintInvMassScale mInvMassScale[32]); //512 512
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PX_ALIGN(128, float4 normal_restitutionW[32]); //1024 512
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PX_ALIGN(128, PxgMaterialContactData contactData[32]); //1536 512
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PX_ALIGN(128, PxReal damping[32]); //1664 128
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};
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//This is for articulation contact
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struct PxgContactData
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{
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PxgConstraintInvMassScale mInvMassScale;
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float4 normal_restitutionW;
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PxgMaterialContactData contactData;
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};
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struct PxgBlockContactPoint
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{
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PX_ALIGN(256, float4 point_separationW[32]);
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PX_ALIGN(256, float4 targetVel_maxImpulseW[32]);
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};
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struct PxgContactPoint
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{
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float4 point_separationW;
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float4 targetVel_maxImpulseW;
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};
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}
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#endif |