DySolverContact4.h

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#ifndef DY_SOLVER_CONTACT4_H
#define DY_SOLVER_CONTACT4_H
 
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "foundation/PxVecMath.h"
#include "DySolverContact.h"
 
namespace physx
{
 
struct PxcNpWorkUnit;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
 
namespace Sc
{
    class ShapeInteraction;
}
    
namespace Dy
{
 
 
 
 
struct SolverContactHeader4
{
    enum
    {
        eHAS_MAX_IMPULSE = 1 << 0,
        eHAS_TARGET_VELOCITY = 1 << 1
    };
 
    PxU8    type;                   //Note: mType should be first as the solver expects a type in the first byte.
    PxU8    numNormalConstr;
    PxU8    numFrictionConstr;
    PxU8    flag;
 
    PxU8    flags[4];
    //These counts are the max of the 4 sets of data.
    //When certain pairs have fewer patches/contacts 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)
 
    //KS - used for write-back only
    PxU8    numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
    PxU8    numFrictionConstr0, numFrictionConstr1, numFrictionConstr2, numFrictionConstr3;         
 
    Vec4V   restitution;                                                                            
    Vec4V   staticFriction;
    Vec4V   dynamicFriction;
    //Technically, these mass properties could be pulled out into a new structure and shared. For multi-manifold contacts,
    //this would save 64 bytes per-manifold after the cost of the first manifold
    Vec4V   invMass0D0;
    Vec4V   invMass1D1;
    Vec4V   angDom0;
    Vec4V   angDom1;
    //Normal is shared between all contacts in the batch. This will save some memory!
    Vec4V normalX;
    Vec4V normalY;
    Vec4V normalZ;
 
    Sc::ShapeInteraction* shapeInteraction[4];      //192 or 208
}; 
 
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 192);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 208);
#endif
 
 
struct SolverContactBatchPointBase4
{
    Vec4V raXnX;
    Vec4V raXnY;
    Vec4V raXnZ;
    Vec4V velMultiplier;
    Vec4V scaledBias;
    Vec4V biasedErr;
    Vec4V impulseMultiplier;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointBase4) == 112);
 
struct SolverContactBatchPointDynamic4 : public SolverContactBatchPointBase4
{   
    Vec4V rbXnX;
    Vec4V rbXnY;
    Vec4V rbXnZ;
}; 
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointDynamic4) == 160);
 
struct SolverFrictionSharedData4
{
    BoolV broken;
    PxU8* frictionBrokenWritebackByte[4];
    Vec4V normalX[2];
    Vec4V normalY[2];
    Vec4V normalZ[2];
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionSharedData4) == 128);
#endif
 
 
struct SolverContactFrictionBase4
{
    Vec4V raXnX;
    Vec4V raXnY;
    Vec4V raXnZ;
    Vec4V scaledBias;
    Vec4V velMultiplier;
    Vec4V targetVelocity;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionBase4) == 96);
 
struct SolverContactFrictionDynamic4 : public SolverContactFrictionBase4
{
    Vec4V rbXnX;
    Vec4V rbXnY;
    Vec4V rbXnZ;
}; 
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionDynamic4) == 144);
 
}
 
}
 
#endif