DyConstraintPartition.h

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#ifndef DY_CONSTRAINT_PARTITION_H
#define DY_CONSTRAINT_PARTITION_H
 
#include "DyDynamics.h"
 
 
namespace physx
{
 
namespace Dy
{
struct ConstraintPartitionArgs
{
 
    //Input
    PxU8*                                   mBodies;
    PxU32                                   mNumBodies;
    PxU32                                   mStride;
    ArticulationSolverDesc*                 mArticulationPtrs;
    PxU32                                   mNumArticulationPtrs;
    PxSolverConstraintDesc*                 mContactConstraintDescriptors;
    PxU32                                   mNumContactConstraintDescriptors;
    //output
    PxSolverConstraintDesc*                 mOrderedContactConstraintDescriptors;
    PxSolverConstraintDesc*                 mOverflowConstraintDescriptors;
    PxU32                                   mNumDifferentBodyConstraints;
    PxU32                                   mNumSelfConstraints;
    PxU32                                   mNumStaticConstraints;
    PxU32                                   mNumOverflowConstraints;
    PxArray<PxU32>*                         mConstraintsPerPartition;
    PxArray<PxU32>*                         mBitField;
 
    PxU32                                   maxPartitions;
 
    bool                                    enhancedDeterminism;
    bool                                    forceStaticConstraintsToSolver;
    
};
 
PxU32 partitionContactConstraints(ConstraintPartitionArgs& args);
 
void processOverflowConstraints(PxU8* bodies, PxU32 bodyStride, PxU32 numBodies, ArticulationSolverDesc* articulations, PxU32 numArticulations,
    PxSolverConstraintDesc* constraints, const PxU32 numConstraints);
 
} // namespace physx
 
}
 
#endif