DySolverExt.h

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#ifndef DY_SOLVER_EXT_H
#define DY_SOLVER_EXT_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "CmSpatialVector.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
 
class PxsRigidBody;
struct PxsBodyCore;
struct PxSolverBody;
struct PxSolverBodyData;
 
 
namespace Dy
{
 
 
class FeatherstoneArticulation;
struct SolverConstraint1D;
 
class SolverExtBody
{
public:
    union
    {
        const FeatherstoneArticulation* mArticulation;
        const PxSolverBody* mBody;
    };
    const PxSolverBodyData* mBodyData;
 
    PxU32 mLinkIndex;
 
    SolverExtBody(const void* bodyOrArticulationOrSoftBody, const void* bodyData, PxU32 linkIndex): 
      mBody(reinterpret_cast<const PxSolverBody*>(bodyOrArticulationOrSoftBody)),
      mBodyData(reinterpret_cast<const PxSolverBodyData*>(bodyData)),
          mLinkIndex(linkIndex)
      {}
 
      void getResponse(const PxVec3& linImpulse, const PxVec3& angImpulse,
                       PxVec3& linDeltaV, PxVec3& angDeltaV, PxReal dominance) const;
 
      void getResponse(const aos::Vec3V& linImpulse, const aos::Vec3V& angImpulse,
          aos::Vec3V& linDeltaV, aos::Vec3V& angDeltaV, aos::FloatV dominance) const;
 
      PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const;
      aos::FloatV projectVelocity(const aos::Vec3V& linear, const aos::Vec3V& angular) const;
      PxVec3 getLinVel() const;
      PxVec3 getAngVel() const;
 
      aos::Vec3V getLinVelV() const;
      aos::Vec3V getAngVelV() const;
 
      Cm::SpatialVectorV getVelocity() const;
      PxReal getCFM() const;
};
 
}
 
}
 
#endif