DySolverContactPF.h

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#ifndef DY_SOLVER_CONTACT_PF_H
#define DY_SOLVER_CONTACT_PF_H
 
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
 
using namespace aos;
 
namespace Dy
{
 
struct SolverContactCoulombHeader
{
    PxU8    type;                   //Note: mType should be first as the solver expects a type in the first byte.
    PxU8    numNormalConstr;
    PxU16   frictionOffset;                 //4
    //PxF32 restitution;
    PxF32   angDom0;                        //8
    PxF32   dominance0;                     //12
    PxF32   dominance1;                     //16
    PX_ALIGN(16, PxVec3 normalXYZ);         //28
    PxF32   angDom1;                        //32
    
    Sc::ShapeInteraction* shapeInteraction;     //36    40
    PxU8    flags;                              //37    41
    PxU8    pad0[3];                            //40    44
#if !PX_P64_FAMILY
    PxU32   pad1[2];                            //48    
#else
    PxU32 pad1;                                 //      48
#endif
    
    
    
    PX_FORCE_INLINE void setDominance0(const FloatV f)      {FStore(f, &dominance0);}
    PX_FORCE_INLINE void setDominance1(const FloatV f)      {FStore(f, &dominance1);}
    PX_FORCE_INLINE void setNormal(const Vec3V n)           {V3StoreA(n, normalXYZ);}
    
    PX_FORCE_INLINE FloatV getDominance0() const            {return FLoad(dominance0);}
    PX_FORCE_INLINE FloatV getDominance1() const            {return FLoad(dominance1);}
    //PX_FORCE_INLINE FloatV getRestitution() const         {return FLoad(restitution);}
    PX_FORCE_INLINE Vec3V getNormal()const                  {return V3LoadA(normalXYZ);}
 
  
    PX_FORCE_INLINE void setDominance0(PxF32 f)             { dominance0 = f; }
    PX_FORCE_INLINE void setDominance1(PxF32 f)             { dominance1 = f;}
    //PX_FORCE_INLINE void setRestitution(PxF32 f)          { restitution = f;}
 
    PX_FORCE_INLINE PxF32 getDominance0PxF32() const        {return dominance0;}
    PX_FORCE_INLINE PxF32 getDominance1PxF32() const        {return dominance1;}
    //PX_FORCE_INLINE PxF32 getRestitutionPxF32() const     {return restitution;}
 
}; 
PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader) == 48);
 
struct SolverFrictionHeader
{
    PxU8    type;                   //Note: mType should be first as the solver expects a type in the first byte.
    PxU8    numNormalConstr;
    PxU8    numFrictionConstr;
    PxU8    flags;
    PxF32   staticFriction;
    PxF32   invMass0D0;
    PxF32   invMass1D1;
    PxF32   angDom0;
    PxF32   angDom1;
    PxU32   pad2[2];
 
    PX_FORCE_INLINE void setStaticFriction(const FloatV f)  {FStore(f, &staticFriction);}
    
    PX_FORCE_INLINE FloatV getStaticFriction() const        {return FLoad(staticFriction);}
    
    PX_FORCE_INLINE void setStaticFriction(PxF32 f)         {staticFriction = f;}
 
    PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const    {return staticFriction;}    
 
    PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize() const {return sizeof(PxU32)*((4 * ((numNormalConstr + 3)/4)));}
    static PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize(const PxU32 numConstr) {return sizeof(PxU32)*((4 * ((numConstr + 3)/4)));}
}; 
 
PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader) == 32);
 
}
 
}
 
#endif