DyConstraintPrep.h

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#ifndef DY_CONSTRAINT_PREP_H
#define DY_CONSTRAINT_PREP_H
 
#include "DyConstraint.h"
 
#include "DySolverConstraintDesc.h"
#include "foundation/PxArray.h"
#include "PxConstraint.h"
 
#define DY_ARTICULATION_MIN_RESPONSE 1e-5f
#define DY_ARTICULATION_CFM 2e-4f
 
#define DY_ARTICULATION_BAD_RESPONSE 0.02f
 
namespace physx
{
 
class PxcConstraintBlockStream;
class PxsConstraintBlockManager;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
 
namespace Cm
{
    struct SpatialVectorF;
}
 
namespace Dy
{
 
    static const PxU32 MAX_CONSTRAINT_ROWS = 20;
 
    struct SolverConstraintShaderPrepDesc
    {
        const Constraint* constraint;
        PxConstraintSolverPrep solverPrep;
        const void* constantBlock;
        PxU32 constantBlockByteSize;
    };
 
    SolverConstraintPrepState::Enum setupSolverConstraint4
        (SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
        PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
            const PxReal dt, const PxReal recipdt, PxU32& totalRows,
             PxConstraintAllocator& allocator);
 
    SolverConstraintPrepState::Enum setupSolverConstraint4
        (PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
        const PxReal dt, const PxReal recipdt, PxU32& totalRows,
        PxConstraintAllocator& allocator, PxU32 maxRows);
 
    PxU32 SetupSolverConstraint(SolverConstraintShaderPrepDesc& shaderDesc,
                                PxSolverConstraintPrepDesc& prepDesc,
                                   PxConstraintAllocator& allocator,
                                   PxReal dt, PxReal invdt, Cm::SpatialVectorF* Z);
 
 
    class ConstraintHelper
    {
    public:
 
        static PxU32 setupSolverConstraint(
            PxSolverConstraintPrepDesc& prepDesc,
            PxConstraintAllocator& allocator,
            PxReal dt, PxReal invdt, Cm::SpatialVectorF* Z);
    };
 
    template<class PrepDescT>
    PX_FORCE_INLINE void setupConstraintFlags(PrepDescT& prepDesc, PxU16 flags)
    {
        prepDesc.disablePreprocessing   = (flags & PxConstraintFlag::eDISABLE_PREPROCESSING)!=0;
        prepDesc.improvedSlerp          = (flags & PxConstraintFlag::eIMPROVED_SLERP)!=0;
        prepDesc.driveLimitsAreForces   = (flags & PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)!=0;
        prepDesc.extendedLimits         = (flags & PxConstraintFlag::eENABLE_EXTENDED_LIMITS)!=0;
        prepDesc.disableConstraint      = (flags & PxConstraintFlag::eDISABLE_CONSTRAINT)!=0;
    }
 
    void preprocessRows(Px1DConstraint** sorted,
        Px1DConstraint* rows,
        PxVec4* angSqrtInvInertia0,
        PxVec4* angSqrtInvInertia1,
        PxU32 rowCount,
        const PxMat33& sqrtInvInertia0F32,
        const PxMat33& sqrtInvInertia1F32,
        const PxReal invMass0,
        const PxReal invMass1,
        const PxConstraintInvMassScale& ims,
        bool disablePreprocessing,
        bool diagonalizeDrive);
 
    PX_FORCE_INLINE void setupConstraintRows(Px1DConstraint* PX_RESTRICT rows, PxU32 size)
    {
        // This is necessary so that there will be sensible defaults and shaders will
        // continue to work (albeit with a recompile) if the row format changes.
        // It's a bit inefficient because it fills in all constraint rows even if there
        // is only going to be one generated. A way around this would be for the shader to
        // specify the maximum number of rows it needs, or it could call a subroutine to
        // prep the row before it starts filling it it.
 
        PxMemZero(rows, sizeof(Px1DConstraint)*size);
 
        for(PxU32 i=0; i<size; i++)
        {
            Px1DConstraint& c = rows[i];
            //Px1DConstraintInit(c);
            c.minImpulse = -PX_MAX_REAL;
            c.maxImpulse = PX_MAX_REAL;
        }
    }
}
 
}
 
#endif