DySolverBody.h

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#ifndef DY_SOLVER_BODY_H
#define DY_SOLVER_BODY_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
#include "CmSpatialVector.h"
#include "solver/PxSolverDefs.h"
 
namespace physx
{
 
class PxsRigidBody;
struct PxsBodyCore;
 
namespace Dy
{
 
// PT: TODO: make sure this is still needed / replace with V4sqrt
//This method returns values of 0 when the inertia is 0. This is a bit of a hack but allows us to 
//represent kinematic objects' velocities in our new format
PX_FORCE_INLINE PxVec3 computeSafeSqrtInertia(const PxVec3& v)
{
    return PxVec3(  v.x == 0.0f ? 0.0f : PxSqrt(v.x),
                    v.y == 0.0f ? 0.0f : PxSqrt(v.y),
                    v.z == 0.0f ? 0.0f : PxSqrt(v.z));
}
 
void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, const PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
    const PxReal maxDepenetrationVelocity, const PxReal maxContactImpulse, const PxU32 nodeIndex, const PxReal reportThreshold, PxSolverBodyData& solverBodyData, PxU32 lockFlags,
    const PxReal dt, bool gyroscopicForces);
 
// PT: TODO: using PxsBodyCore in the interface makes us write less data to the stack for passing arguments, and we can take advantage of the class layout
// (we know what is aligned or not, we know if it is safe to V4Load vectors, etc). Note that this is what we previously had, which is why PxsBodyCore was still
// forward-referenced above.
//void copyToSolverBodyData(PxSolverBodyData& solverBodyData, const PxsBodyCore& core, const PxU32 nodeIndex);
 
}
 
}
 
#endif