DySolverConstraintDesc.h

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#ifndef DY_SOLVER_CONSTRAINT_DESC_H
#define DY_SOLVER_CONSTRAINT_DESC_H
 
#include "PxvConfig.h"
#include "DySolverConstraintTypes.h"
#include "foundation/PxUtilities.h"
#include "PxConstraintDesc.h"
#include "solver/PxSolverDefs.h"
 
namespace physx
{
struct PxcNpWorkUnit;
struct PxsContactManagerOutput;
 
namespace Cm
{
    class SpatialVector;
}
 
struct PxSolverBody;
struct PxSolverBodyData;
 
namespace Dy
{
class FeatherstoneArticulation;
struct FsData;
 
// dsequeira: moved this articulation stuff here to sever a build dep on Articulation.h through DyThreadContext.h and onward
 
struct SelfConstraintBlock
{
    PxU32   startId;                
    PxU32   numSelfConstraints; 
    PxU16   fsDataLength;       
    PxU16   requiredSolverProgress;
    uintptr_t eaFsData;
};
 
//This class rolls together multiple contact managers into a single contact manager.
struct CompoundContactManager
{
    PxU32 mStartIndex;
    PxU16 mStride;
    PxU16 mReducedContactCount;
    PxU16 originalContactCount;
    PxU8 originalPatchCount;
    PxU8 originalStatusFlags;
 
    PxcNpWorkUnit* unit;            //This is a work unit but the contact buffer has been adjusted to contain all the contacts for all the subsequent pairs
    PxsContactManagerOutput* cmOutput;
    PxU8* originalContactPatches;   //This is the original contact buffer that we replaced with a combined buffer   
    PxU8* originalContactPoints;
    
    PxReal* originalForceBuffer;    //This is the original force buffer that we replaced with a combined force buffer
    PxU16* forceBufferList;         //This is a list of indices from the reduced force buffer to the original force buffers - we need this to fix up the write-backs from the solver    
};
 
struct SolverConstraintPrepState
{
enum Enum 
{
    eOUT_OF_MEMORY,
    eUNBATCHABLE,
    eSUCCESS
};
};
 
PX_FORCE_INLINE bool isArticulationConstraint(const PxSolverConstraintDesc& desc)
{
    return (desc.linkIndexA != PxSolverConstraintDesc::RIGID_BODY ) ||
        (desc.linkIndexB != PxSolverConstraintDesc::RIGID_BODY);
}
 
 
PX_FORCE_INLINE void setConstraintLength(PxSolverConstraintDesc& desc, const PxU32 constraintLength)
{
    PX_ASSERT(0==(constraintLength & 0x0f));
    PX_ASSERT(constraintLength <= PX_MAX_U16 * 16);
    desc.constraintLengthOver16 = PxTo16(constraintLength >> 4);
}
 
PX_FORCE_INLINE PxU32 getConstraintLength(const PxSolverConstraintDesc& desc)
{
    return PxU32(desc.constraintLengthOver16 << 4);
}
 
PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationA(const PxSolverConstraintDesc& desc)
{
    return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationA);
}
 
PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationB(const PxSolverConstraintDesc& desc)
{
    return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationB);
}
 
PX_COMPILE_TIME_ASSERT(0 == (0x0f & sizeof(PxSolverConstraintDesc)));
 
#define MAX_PERMITTED_SOLVER_PROGRESS 0xFFFF
 
}
 
}
 
#endif