DyTGSContactPrep.h

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#ifndef DY_TGS_CONTACT_PREP_H
#define DY_TGS_CONTACT_PREP_H
 
#include "foundation/PxPreprocessor.h"
#include "DySolverConstraintDesc.h"
#include "PxSceneDesc.h"
#include "DySolverContact4.h"
 
namespace physx
{
 
    struct PxcNpWorkUnit;
    class PxsConstraintBlockManager;
    class PxcConstraintBlockStream;
    struct PxsContactManagerOutput;
    class FrictionPatchStreamPair;
    struct PxSolverBody;
    struct PxSolverBodyData;
    struct PxSolverConstraintDesc;
    class PxsContactManager;
 
    namespace Dy
    {
        class ThreadContext;
        struct CorrelationBuffer;
 
        bool createFinalizeSolverContactsStep(PxTGSSolverContactDesc& contactDesc,
            PxsContactManagerOutput& output,
            ThreadContext& threadContext,
            const PxReal invDtF32,
            const PxReal invTotalDtF32,
            const PxReal totalDtF32,
            const PxReal stepDt,
            const PxReal bounceThresholdF32,
            const PxReal frictionOffsetThreshold,
            const PxReal correlationDistance,
            const PxReal biasCoefficient,
            PxConstraintAllocator& constraintAllocator);
 
        bool createFinalizeSolverContactsStep(
            PxTGSSolverContactDesc& contactDesc,
            CorrelationBuffer& c,
            const PxReal invDtF32,
            const PxReal invTotalDtF32,
            const PxReal totalDtF32,
            const PxReal dtF32,
            const PxReal bounceThresholdF32,
            const PxReal frictionOffsetThreshold,
            const PxReal correlationDistance,
            const PxReal biasCoefficient,
            PxConstraintAllocator& constraintAllocator);
 
        SolverConstraintPrepState::Enum setupSolverConstraintStep4
        (PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
            const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
            PxConstraintAllocator& allocator, PxU32 maxRows,
            const PxReal lengthScale, const PxReal biasCoefficient);
 
        PxU32 SetupSolverConstraintStep(SolverConstraintShaderPrepDesc& shaderDesc,
            PxTGSSolverConstraintPrepDesc& prepDesc,
            PxConstraintAllocator& allocator,
            const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
            const PxReal lengthScale, const PxReal biasCoefficient);
 
        PxU32 setupSolverConstraintStep(
            const PxTGSSolverConstraintPrepDesc& prepDesc,
            PxConstraintAllocator& allocator,
            const PxReal dt, const PxReal totalDt, const PxReal invdt, const PxReal invTotalDt,
            const PxReal lengthScale, const PxReal biasCoefficient);
 
        SolverConstraintPrepState::Enum setupSolverConstraintStep4
        (SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
            PxTGSSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
            const PxReal dt, const PxReal totalDt, const PxReal recipdt, const PxReal recipTotalDt, PxU32& totalRows,
            PxConstraintAllocator& allocator, const PxReal lengthScale, const PxReal biasCoefficient);
 
        SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
            PxsContactManagerOutput** cmOutputs,
            ThreadContext& threadContext,
            PxTGSSolverContactDesc* blockDescs,
            const PxReal invDtF32,
            const PxReal totalDtF32,
            const PxReal invTotalDtF32,
            const PxReal dt,
            const PxReal bounceThresholdF32,
            const PxReal frictionOffsetThreshold,
            const PxReal correlationDistance,
            const PxReal biasCoefficient,
            PxConstraintAllocator& constraintAllocator);
 
        SolverConstraintPrepState::Enum createFinalizeSolverContacts4Step(
            Dy::CorrelationBuffer& c,
            PxTGSSolverContactDesc* blockDescs,
            const PxReal invDtF32,
            const PxReal totalDt,
            const PxReal invTotalDtF32,
            const PxReal dt,
            const PxReal bounceThresholdF32,
            const PxReal frictionOffsetThreshold,
            const PxReal correlationDistance,
            const PxReal biasCoefficient,
            PxConstraintAllocator& constraintAllocator);
 
        typedef void(*TGSSolveBlockMethod) (const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc,
            const PxTGSSolverBodyTxInertia* const txInertias, const PxReal minPenetration, const PxReal elapsedTime, SolverContext& cache);
 
        typedef void (*TGSWriteBackMethod) (const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc, SolverContext* cache);
        
        typedef void (*TGSSolveConcludeMethod) (const PxConstraintBatchHeader& hdr, const PxSolverConstraintDesc* desc,
            const PxTGSSolverBodyTxInertia* const txInertias, const PxReal elapsedTime, SolverContext& cache);
 
        extern TGSSolveBlockMethod g_SolveTGSMethods[];
 
        extern TGSWriteBackMethod g_WritebackTGSMethods[];
 
        extern TGSSolveConcludeMethod g_SolveConcludeTGSMethods[];
 
    }
 
}
 
#endif