PxSolverDefs.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#ifndef PX_SOLVER_DEFS_H
#define PX_SOLVER_DEFS_H


#include "PxPhysXConfig.h"
#include "foundation/PxVec3.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"
#include "PxConstraintDesc.h"
#include "geomutils/GuContactPoint.h"

#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4324) // structure was padded due to alignment
#endif

#if !PX_DOXYGEN
namespace physx
{
#endif

namespace Dy
{
    //struct FsData;
    class ArticulationV;
}

namespace Sc
{
    class ShapeInteraction;
}

struct PxSolverBody
{
    PX_ALIGN(16, PxVec3) linearVelocity;                    
    PxU16               maxSolverNormalProgress;        
    PxU16               maxSolverFrictionProgress;      

    PxVec3              angularState;                   

    PxU32               solverProgress;                 

    PxSolverBody() : linearVelocity(0.f), maxSolverNormalProgress(0), maxSolverFrictionProgress(0), angularState(0), solverProgress(0)
    {
    }
};

PX_COMPILE_TIME_ASSERT(sizeof(PxSolverBody) == 32);

struct PxSolverBodyData
{
    PX_ALIGN(16, PxVec3 linearVelocity);    
    PxReal          invMass;                
    PxVec3          angularVelocity;        
    PxReal          reportThreshold;        
    PxMat33         sqrtInvInertia;         
    PxReal          penBiasClamp;           
    PxU32           nodeIndex;              
    PxReal          maxContactImpulse;      
    PxTransform     body2World;             
    PxU16           lockFlags;              
    PxU16           pad;                    

    PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang)    const
    {
        return linearVelocity.dot(lin) + angularVelocity.dot(ang);
    }
};

//----------------------------------
/*
* A header that defines the size of a specific batch of constraints (of same type and without dependencies)
*/
struct PxConstraintBatchHeader
{
    PxU32 mStartIndex;          
    PxU16 mStride;              
    PxU16 mConstraintType;      
};


struct PxSolverConstraintDesc
{
    static const PxU16 NO_LINK = 0xffff;

    enum ConstraintType
    {
        eCONTACT_CONSTRAINT,                
        eJOINT_CONSTRAINT                   
    };

    union
    {
        PxSolverBody*               bodyA;          
        Dy::ArticulationV*          articulationA;  
    };

    union
    {
        PxSolverBody*               bodyB;          
        Dy::ArticulationV*          articulationB;  
    };
    PxU16               linkIndexA;         
    PxU16               linkIndexB;         
    union
    {
        PxU16               articulationALength;    
        PxU32               bodyADataIndex;         
    };

    union
    {
        PxU16               articulationBLength;    
        PxU32               bodyBDataIndex;         
    };

    PxU16                   writeBackLengthOver4;   
    PxU16                   constraintLengthOver16; 

    PxU8*                   constraint;             
    void*                   writeBack;              
};

struct PxSolverConstraintPrepDescBase
{
    enum BodyState
    {
        eDYNAMIC_BODY = 1 << 0,
        eSTATIC_BODY = 1 << 1,
        eKINEMATIC_BODY = 1 << 2,
        eARTICULATION = 1 << 3
    };

    PxConstraintInvMassScale mInvMassScales;    

    PxSolverConstraintDesc* desc;               

    const PxSolverBody* body0;                  
    const PxSolverBody* body1;                  

    const PxSolverBodyData* data0;              
    const PxSolverBodyData* data1;              

    PxTransform bodyFrame0;                     
    PxTransform bodyFrame1;                     

    BodyState bodyState0;                       
    BodyState bodyState1;                       

};

struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase
{
    PX_ALIGN(16, Px1DConstraint* rows);         
    PxU32 numRows;                              

    PxReal linBreakForce, angBreakForce;        
    PxReal minResponseThreshold;                
    void* writeback;                            
    bool disablePreprocessing;                  
    bool improvedSlerp;                         
    bool driveLimitsAreForces;                  
    bool extendedLimits;                        

    PxVec3 body0WorldOffset;                    
};


struct PxSolverContactDesc : public PxSolverConstraintPrepDescBase
{

    PX_ALIGN(16, Sc::ShapeInteraction* shapeInteraction); 
    Gu::ContactPoint* contacts;             
    PxU32 numContacts;                      

    bool hasMaxImpulse;                     
    bool disableStrongFriction;             
    bool hasForceThresholds;                

    PxReal restDistance;                    
    PxReal maxCCDSeparation;                

    PxU8* frictionPtr;                      
    PxU8 frictionCount;                     

    PxReal* contactForces;                  

    PxU32 startFrictionPatchIndex;          
    PxU32 numFrictionPatches;               

    PxU32 startContactPatchIndex;           
    PxU16 numContactPatches;                
    PxU16 axisConstraintCount;              

    PxU8 pad[16 - sizeof(void*)];
};

class PxConstraintAllocator
{
public:
    virtual PxU8* reserveConstraintData(const PxU32 byteSize) = 0;
    virtual PxU8* reserveFrictionData(const PxU32 byteSize) = 0;

    virtual ~PxConstraintAllocator() {}
};

#if !PX_DOXYGEN
}
#endif

#if PX_VC
#pragma warning(pop)
#endif

#endif