DySolverContactPF4.h

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#ifndef DY_SOLVER_CONTACT_PF_4_H
#define DY_SOLVER_CONTACT_PF_4_H
 
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
 
using namespace aos;
 
namespace Sc
{
    class ShapeInteraction;
}
 
namespace Dy
{
 
struct SolverContactCoulombHeader4
{
    PxU8    type;                   //Note: mType should be first as the solver expects a type in the first byte.
    PxU8    numNormalConstr;
    PxU16   frictionOffset;
    PxU8    numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
    PxU8    flags[4];
    PxU32   pad;                    //16
    Vec4V   restitution;            //32
    Vec4V   normalX;                //48
    Vec4V   normalY;                //64
    Vec4V   normalZ;                //80
    Vec4V   invMassADom;            //96
    Vec4V   invMassBDom;            //112
    Vec4V   angD0;                  //128
    Vec4V   angD1;                  //144
    Sc::ShapeInteraction* shapeInteraction[4];      //160   or 176
}; 
 
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 160);
#else
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader4) == 176);
#endif
 
struct SolverContact4Base
{
    Vec4V raXnX;
    Vec4V raXnY;
    Vec4V raXnZ;
    Vec4V appliedForce;
    Vec4V velMultiplier;
    Vec4V targetVelocity;
    Vec4V scaledBias;
    Vec4V maxImpulse;
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Base) == 128);
 
struct SolverContact4Dynamic : public SolverContact4Base
{
    Vec4V rbXnX;
    Vec4V rbXnY;
    Vec4V rbXnZ;
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverContact4Dynamic) == 176);
 
struct SolverFrictionHeader4
{
    PxU8    type;                   //Note: mType should be first as the solver expects a type in the first byte.
    PxU8    numNormalConstr;
    PxU8    numFrictionConstr;
    PxU8    numNormalConstr0;
    PxU8    numNormalConstr1;
    PxU8    numNormalConstr2;
    PxU8    numNormalConstr3;
    PxU8    numFrictionConstr0;
    PxU8    numFrictionConstr1;
    PxU8    numFrictionConstr2;
    PxU8    numFrictionConstr3;
    PxU8    pad0;
    PxU32   frictionPerContact;
 
    Vec4V   staticFriction;
    Vec4V   invMassADom;
    Vec4V   invMassBDom;
    Vec4V   angD0;
    Vec4V   angD1;
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader4) == 96);
 
struct SolverFriction4Base
{
    Vec4V normalX;
    Vec4V normalY;
    Vec4V normalZ;
    Vec4V raXnX;
    Vec4V raXnY;
    Vec4V raXnZ;
    Vec4V appliedForce;
    Vec4V velMultiplier;
    Vec4V targetVelocity;
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Base) == 144);
 
struct SolverFriction4Dynamic : public SolverFriction4Base
{
    Vec4V rbXnX;
    Vec4V rbXnY;
    Vec4V rbXnZ;
};
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverFriction4Dynamic) == 192);
 
}
 
}
 
#endif