DySolverConstraint1D4.h

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#ifndef DY_SOLVER_CONSTRAINT_1D4_H
#define DY_SOLVER_CONSTRAINT_1D4_H
 
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "DyArticulationUtils.h"
#include "DySolverConstraint1D.h"
 
namespace physx
{
 
namespace Dy
{
 
struct SolverConstraint1DHeader4
{
    PxU8    type;           // enum SolverConstraintType - must be first byte
    PxU8    pad0[3];    
    //These counts are the max of the 4 sets of data.
    //When certain pairs have fewer constraints than others, they are padded with 0s so that no work is performed but 
    //calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
    PxU32   count;
    PxU8    count0, count1, count2, count3;
    PxU8    break0, break1, break2, break3;
 
    Vec4V   linBreakImpulse;
    Vec4V   angBreakImpulse;
    Vec4V   invMass0D0;
    Vec4V   invMass1D1;
    Vec4V   angD0;
    Vec4V   angD1;
 
    Vec4V   body0WorkOffsetX;
    Vec4V   body0WorkOffsetY;
    Vec4V   body0WorkOffsetZ;
};
 
struct SolverConstraint1DBase4 
{
public:
    Vec4V       lin0X;
    Vec4V       lin0Y;
    Vec4V       lin0Z;
    Vec4V       ang0X;
    Vec4V       ang0Y;
    Vec4V       ang0Z;
    Vec4V       ang0WritebackX;
    Vec4V       ang0WritebackY;
    Vec4V       ang0WritebackZ;
    Vec4V       constant;
    Vec4V       unbiasedConstant;
    Vec4V       velMultiplier;
    Vec4V       impulseMultiplier;
    Vec4V       minImpulse;
    Vec4V       maxImpulse;
    Vec4V       appliedForce;
    PxU32       flags[4];
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DBase4) == 272);
 
struct SolverConstraint1DDynamic4 : public SolverConstraint1DBase4
{
    Vec4V       lin1X;
    Vec4V       lin1Y;
    Vec4V       lin1Z;
    Vec4V       ang1X;
    Vec4V       ang1Y;
    Vec4V       ang1Z;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DDynamic4) == 368);
 
}
 
}
 
#endif