DyArticulationContactPrep.h

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#ifndef DY_ARTICULATION_CONTACT_PREP_H
#define DY_ARTICULATION_CONTACT_PREP_H
 
#include "DySolverExt.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
struct PxcNpWorkUnit;
class PxContactBuffer;
struct PxContactPoint;
 
namespace Dy
{
 
    struct CorrelationBuffer;
 
    PxReal getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVector& impulse0, Cm::SpatialVector& deltaV0, PxReal dom0, PxReal angDom0,
        const SolverExtBody& b1, const Cm::SpatialVector& impulse1, Cm::SpatialVector& deltaV1, PxReal dom1, PxReal angDom1,
        Cm::SpatialVectorF* Z, bool allowSelfCollision = false);
 
    aos::FloatV getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVectorV& impulse0, Cm::SpatialVectorV& deltaV0, const aos::FloatV& dom0, const aos::FloatV& angDom0,
        const SolverExtBody& b1, const Cm::SpatialVectorV& impulse1, Cm::SpatialVectorV& deltaV1, const aos::FloatV& dom1, const aos::FloatV& angDom1,
        Cm::SpatialVectorV* Z, bool allowSelfCollision = false);
 
    Cm::SpatialVector createImpulseResponseVector(const PxVec3& linear, const PxVec3& angular, const SolverExtBody& body);
    Cm::SpatialVectorV createImpulseResponseVector(const aos::Vec3V& linear, const aos::Vec3V& angular, const SolverExtBody& body);
 
    void setupFinalizeExtSolverContacts(
        const PxContactPoint* buffer,
        const CorrelationBuffer& c,
        const PxTransform& bodyFrame0,
        const PxTransform& bodyFrame1,
        PxU8* workspace,
        const SolverExtBody& b0,
        const SolverExtBody& b1,
        const PxReal invDtF32,
        const PxReal dtF32,
        PxReal bounceThresholdF32,
        PxReal invMassScale0, PxReal invInertiaScale0,
        PxReal invMassScale1, PxReal invInertiaScale1,
        PxReal restDistance, PxU8* frictionDataPtr,
        PxReal ccdMaxContactDist,
        Cm::SpatialVectorF* Z,
        const PxReal offsetSlop);
 
 
    bool setupFinalizeExtSolverContactsCoulomb(
        const PxContactBuffer& buffer,
        const CorrelationBuffer& c,
        const PxTransform& bodyFrame0,
        const PxTransform& bodyFrame1,
        PxU8* workspace,
        PxReal invDt,
        PxReal dtF32,
        PxReal bounceThreshold,
        const SolverExtBody& b0,
        const SolverExtBody& b1,
        PxU32 frictionCountPerPoint,
        PxReal invMassScale0, PxReal invInertiaScale0,
        PxReal invMassScale1, PxReal invInertiaScale1,
        PxReal restDist,
        PxReal ccdMaxContactDist,
        Cm::SpatialVectorF* Z,
        const PxReal solverOffsetSlop);
 
} //namespace Dy
 
}
 
#endif