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PxImmediateMode.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_PHYSICS_IMMEDIATE_MODE
#define PX_PHYSICS_IMMEDIATE_MODE

#include "PxPhysXConfig.h"
#include "solver/PxSolverDefs.h"
#include "collision/PxCollisionDefs.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

#if !PX_DOXYGEN
namespace immediate
{
#endif

    struct PxRigidBodyData
    {
        PX_ALIGN(16, PxVec3 linearVelocity);                
        PxReal invMass;                                     
        PxVec3 angularVelocity;                             
        PxReal maxDepenetrationVelocity;                    
        PxVec3 invInertia;                                  
        PxReal maxContactImpulse;                           
        PxTransform body2World;                             
        PxReal linearDamping;                               
        PxReal angularDamping;                              
        PxReal maxLinearVelocitySq;                         
        PxReal maxAngularVelocitySq;                        
        PxU32 pad;                                          
    };

    class PxContactRecorder
    {
    public:
        virtual bool recordContacts(const Gu::ContactPoint* contactPoints, const PxU32 nbContacts, const PxU32 index) = 0;

        virtual ~PxContactRecorder(){}
    };

    PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData, PxSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt);

    PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBody(const PxTransform& globalPose,PxSolverBodyData& solverBodyData);

    PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints(PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody* solverBodies, PxU32 nbBodies, PxConstraintBatchHeader* outBatchHeaders,
        PxSolverConstraintDesc* outOrderedConstraintDescs);

    PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverContactDesc* contactDescs,
        PxConstraintAllocator& allocator, PxReal invDt, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal correlationDistance);

    PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);

    PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeader, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);

    PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxSolverConstraintDesc* solverConstraintDescs, PxSolverBody* solverBodies,
        PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations);

    PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, const PxU32 nbBodiesToIntegrate, PxReal dt);

    PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(const PxGeometry* const * geom0, const PxGeometry* const * geom1, const PxTransform* pose0, const PxTransform* pose1, PxCache* contactCache, const PxU32 nbPairs, PxContactRecorder& contactRecorder,
        const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator& allocator);

#if !PX_DOXYGEN
}
#endif


#if !PX_DOXYGEN
}
#endif

#endif

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