text: //
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  // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  
  
  #ifndef DY_SOLVERCONTACT_H
  #define DY_SOLVERCONTACT_H
  
  #include "foundation/PxSimpleTypes.h"
  #include "foundation/PxVec3.h"
  #include "PxvConfig.h"
  #include "PsVecMath.h"
  
  namespace physx
  {
  
  using namespace Ps::aos;
  
  namespace Sc
  {
  	class ShapeInteraction;
  }
  /**
  \brief A header to represent a friction patch for the solver.
  */
  
  namespace Dy
  {
  
  struct SolverContactHeader
  {
  	enum DySolverContactFlags
  	{
  		eHAS_FORCE_THRESHOLDS = 0x1
  	};
  
  	PxU8	type;					//Note: mType should be first as the solver expects a type in the first byte.
  	PxU8	flags;	
  	PxU8	numNormalConstr;
  	PxU8	numFrictionConstr;					//4
  
  	PxReal	angDom0;							//8
  	PxReal	angDom1;							//12
  	PxReal	invMass0;							//16
  
  	Vec4V   staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W;		//32
  	//KS - minAppliedImpulseForFrictionW is non-zero only for articulations. This is a workaround for a case in articulations where
  	//the impulse is propagated such that many links do not apply friction because their normal forces were corrected by the solver in a previous
  	//link. This results in some links sliding unnaturally. This occurs with prismatic or revolute joints where the impulse propagation one one link
  	//resolves the normal constraint on all links
  	Vec4V	normal_minAppliedImpulseForFrictionW;							//48 
  																			
  
  	PxReal	invMass1;														//52
  	PxU32 broken;															//56
  	PxU8* frictionBrokenWritebackByte;										//60	64
  	Sc::ShapeInteraction* shapeInteraction;									//64	72
  #if PX_P64_FAMILY
  	PxU32	pad[2];															//64	80
  #endif // PX_X64
  
  
  	PX_FORCE_INLINE void setStaticFriction(const FloatV f)	{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
  	PX_FORCE_INLINE void setDynamicFriction(const FloatV f)	{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
  	PX_FORCE_INLINE void setDominance0(const FloatV f)		{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
  	PX_FORCE_INLINE void setDominance1(const FloatV f)		{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
  
  	PX_FORCE_INLINE FloatV getStaticFriction() const		{return V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE FloatV getDynamicFriction() const		{return V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE FloatV getDominance0() const			{return V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE FloatV getDominance1() const			{return V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  
  	PX_FORCE_INLINE void setStaticFriction(PxF32 f)			{V4WriteX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
  	PX_FORCE_INLINE void setDynamicFriction(PxF32 f)		{V4WriteY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
  	PX_FORCE_INLINE void setDominance0(PxF32 f)				{V4WriteZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
  	PX_FORCE_INLINE void setDominance1(PxF32 f)				{V4WriteW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
  
  	PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const	{return V4ReadX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE PxF32 getDynamicFrictionPxF32() const	{return V4ReadY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE PxF32 getDominance0PxF32() const		{return V4ReadZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  	PX_FORCE_INLINE PxF32 getDominance1PxF32() const		{return V4ReadW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
  }; 
  
  #if !PX_P64_FAMILY
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 64);
  #else
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 80);
  #endif
  
  /**
  \brief A single rigid body contact point for the solver.
  */
  struct SolverContactPoint
  {
  	Vec3V raXn;
  	Vec3V rbXn;
  
  	PxF32 velMultiplier;
  	PxF32 biasedErr;
  	PxF32 unbiasedErr;
  	PxF32 maxImpulse;
  
  	PX_FORCE_INLINE FloatV getVelMultiplier() const			{return FLoad(velMultiplier);}
  
  	PX_FORCE_INLINE FloatV getBiasedErr() const				{return FLoad(biasedErr);}
  	PX_FORCE_INLINE FloatV getMaxImpulse() const			{return FLoad(maxImpulse);}
  
  	PX_FORCE_INLINE Vec3V getRaXn() const					{return raXn;}
  	PX_FORCE_INLINE Vec3V getRbXn() const					{return rbXn;}
  
  	PX_FORCE_INLINE void setRaXn(const PxVec3& v)			{V3WriteXYZ(raXn, v);}
  	PX_FORCE_INLINE void setRbXn(const PxVec3& v)			{V3WriteXYZ(rbXn, v);}
  	PX_FORCE_INLINE void setVelMultiplier(PxF32 f)			{velMultiplier = f;}
  
  	PX_FORCE_INLINE void setBiasedErr(PxF32 f)				{biasedErr = f;}
  	PX_FORCE_INLINE void setUnbiasedErr(PxF32 f)			{unbiasedErr = f;}
  
  	PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const		{return velMultiplier;}
  	PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const		{return V3ReadXYZ(raXn);}
  	PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const		{return V3ReadXYZ(rbXn);}
  	PX_FORCE_INLINE PxF32 getBiasedErrPxF32() const			{return biasedErr;}
  }; 
  
  
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPoint) == 48);
  
  /**
  \brief A single extended articulation contact point for the solver.
  */
  struct SolverContactPointExt : public SolverContactPoint
  {
  	Vec3V linDeltaVA;
  	Vec3V angDeltaVA;
  	Vec3V linDeltaVB;
  	Vec3V angDeltaVB;
  };
  
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPointExt) == 112);
  
  
  /**
  \brief A single friction constraint for the solver.
  */
  struct SolverContactFriction
  {
  	Vec4V normalXYZ_appliedForceW;		//16
  	Vec4V raXnXYZ_velMultiplierW;		//32
  	Vec4V rbXnXYZ_biasW;				//48
  	PxReal targetVel;					//52
  	PxU32 mPad[3];						//64
  
  	PX_FORCE_INLINE void setAppliedForce(const FloatV f)	{normalXYZ_appliedForceW=V4SetW(normalXYZ_appliedForceW,f);}
  	PX_FORCE_INLINE void setVelMultiplier(const FloatV f)	{raXnXYZ_velMultiplierW=V4SetW(raXnXYZ_velMultiplierW,f);}
  	PX_FORCE_INLINE void setBias(const FloatV f)			{rbXnXYZ_biasW=V4SetW(rbXnXYZ_biasW,f);}
  
  	PX_FORCE_INLINE FloatV getAppliedForce() const			{return V4GetW(normalXYZ_appliedForceW);}
  	PX_FORCE_INLINE FloatV getVelMultiplier() const			{return V4GetW(raXnXYZ_velMultiplierW);}
  	PX_FORCE_INLINE FloatV getBias() const					{return V4GetW(rbXnXYZ_biasW);}
  
  	PX_FORCE_INLINE Vec3V getNormal() const					{return Vec3V_From_Vec4V(normalXYZ_appliedForceW);}
  	PX_FORCE_INLINE Vec3V getRaXn() const					{return Vec3V_From_Vec4V(raXnXYZ_velMultiplierW);}
  	PX_FORCE_INLINE Vec3V getRbXn() const					{return Vec3V_From_Vec4V(rbXnXYZ_biasW);}
  
  	PX_FORCE_INLINE void setNormal(const PxVec3& v)			{V4WriteXYZ(normalXYZ_appliedForceW, v);}
  	PX_FORCE_INLINE void setRaXn(const PxVec3& v)			{V4WriteXYZ(raXnXYZ_velMultiplierW, v);}
  	PX_FORCE_INLINE void setRbXn(const PxVec3& v)			{V4WriteXYZ(rbXnXYZ_biasW, v);}
  
  	PX_FORCE_INLINE const PxVec3& getNormalPxVec3() const	{return V4ReadXYZ(normalXYZ_appliedForceW);}
  	PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const		{return V4ReadXYZ(raXnXYZ_velMultiplierW);}
  	PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const		{return V4ReadXYZ(rbXnXYZ_biasW);}
  
  	PX_FORCE_INLINE void setAppliedForce(PxF32 f)			{V4WriteW(normalXYZ_appliedForceW, f);}
  	PX_FORCE_INLINE void setVelMultiplier(PxF32 f)			{V4WriteW(raXnXYZ_velMultiplierW, f);}
  	PX_FORCE_INLINE void setBias(PxF32 f)					{V4WriteW(rbXnXYZ_biasW, f);}
  	
  	PX_FORCE_INLINE PxF32 getAppliedForcePxF32() const		{return V4ReadW(normalXYZ_appliedForceW);}
  	PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const		{return V4ReadW(raXnXYZ_velMultiplierW);}
  	PX_FORCE_INLINE PxF32 getBiasPxF32() const				{return V4ReadW(rbXnXYZ_biasW);}
  
  }; 
  
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFriction) == 64);
  
  /**
  \brief A single extended articulation friction constraint for the solver.
  */
  struct SolverContactFrictionExt : public SolverContactFriction
  {
  	Vec3V linDeltaVA;
  	Vec3V angDeltaVA;
  	Vec3V linDeltaVB;
  	Vec3V angDeltaVB;
  };
  PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionExt) == 128);
  
  }
  
  }
  
  
  
  #endif //DY_SOLVERCONTACT_H
  