text: //
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  // Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
  
  #pragma warning(push, 1)
  #pragma warning(disable : 26495 26451 26812)
  #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
  
  struct PxTGSSolverBodyVel;
  
  namespace Dy
  {
  	class ArticulationV;
  	typedef size_t ArticulationLinkHandle;	
  }
  
  namespace Sc
  {
  	class ShapeInteraction;
  }
  
  struct PxSolverBody
  {
  	PX_ALIGN(16, PxVec3) linearVelocity;			//!< Delta linear velocity computed by the solver
  	PxU16				maxSolverNormalProgress;	//!< Progress counter used by constraint batching and parallel island solver. 
  	PxU16				maxSolverFrictionProgress;	//!< Progress counter used by constraint batching and parallel island solver.
  
  	PxVec3				angularState;				//!< Delta angular velocity state computed by the solver.
  
  	PxU32				solverProgress;				//!< Progress counter used by constraint batching and parallel island solver
  
  	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);	//!< 12 Pre-solver linear velocity
  	PxReal			invMass;				//!< 16 inverse mass
  	PxVec3			angularVelocity;		//!< 28 Pre-solver angular velocity
  	PxReal			reportThreshold;		//!< 32 contact force threshold
  	PxMat33			sqrtInvInertia;			//!< 68 inverse inertia in world space
  	PxReal			penBiasClamp;			//!< 72 the penetration bias clamp
  	PxU32			nodeIndex;				//!< 76 the node idx of this solverBodyData. Used by solver to reference between solver bodies and island bodies. Not required by immediate mode
  	PxReal			maxContactImpulse;		//!< 80 the max contact impulse
  	PxTransform		body2World;				//!< 108 the body's transform
  	PxU16			lockFlags;				//!< 110 lock flags
  	PxU16			pad;					//!< 112 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	startIndex;			//!< Start index for this batch
  	PxU16	stride;				//!< Number of constraints in this batch (range: 1-4)
  	PxU16	constraintType;		//!< The type of constraint this batch references
  };
  
  struct PxSolverConstraintDesc
  {
  	static const PxU16 NO_LINK = 0xffff;
  
  	enum ConstraintType
  	{
  		eCONTACT_CONSTRAINT,	//!< Defines this pair is a contact constraint
  		eJOINT_CONSTRAINT		//!< Defines this pair is a joint constraint
  	};
  
  	union
  	{
  		PxSolverBody*			bodyA;			//!< bodyA pointer
  		PxTGSSolverBodyVel*		tgsBodyA;		//!< bodyA pointer
  		Dy::ArticulationV*		articulationA;	//!< Articulation pointer for body A
  		
  	};
  
  	union
  	{
  		PxSolverBody*			bodyB;			//!< BodyB pointer
  		PxTGSSolverBodyVel*		tgsBodyB;		//!< BodyB pointer
  		Dy::ArticulationV*		articulationB;	//!< Articulation pointer for body B
  	};
  	PxU16						linkIndexA;				//!< Link index defining which link in Articulation A this constraint affects. If not an articulation, must be NO_LINK
  	PxU16						linkIndexB;				//!< Link index defining which link in Articulation B this constraint affects. If not an articulation, must be NO_LINK.
  	PxU32						bodyADataIndex;			//!< Body A's index into the SolverBodyData array
  	PxU32						bodyBDataIndex;			//!< Body B's index into the SolverBodyData array
  	PxU16						writeBackLengthOver4;	//!< writeBackLength/4, max writeback length is 256K, allows PxSolverConstraintDesc to fit in 32 bytes
  	PxU16						constraintLengthOver16;	//!< constraintLength/16, max constraint length is 1MB, allows PxSolverConstraintDesc to fit in 32 bytes
  	PxU8*						constraint;				//!< Pointer to the constraint rows to be solved
  	void*						writeBack;				//!< Pointer to the writeback structure results for this given constraint are to be written to
  };
  
  struct PxSolverConstraintPrepDescBase
  {
  	enum BodyState
  	{
  		eDYNAMIC_BODY = 1 << 0,
  		eSTATIC_BODY = 1 << 1,
  		eKINEMATIC_BODY = 1 << 2,
  		eARTICULATION = 1 << 3
  	};
  
  	PxConstraintInvMassScale invMassScales;	//!< In: The local mass scaling for this pair.
  
  	PxSolverConstraintDesc* desc;			//!< Output: The PxSolverConstraintDesc filled in by contact prep
  
  	const PxSolverBody* body0;				//!< In: The first body. Stores velocity information. Unused unless contact involves articulations.
  	const PxSolverBody* body1;				//!< In: The second body. Stores velocity information. Unused unless contact involves articulations.
  
  	const PxSolverBodyData* data0;			//!< In: The first PxSolverBodyData. Stores mass and miscellaneous information for the first body. 
  	const PxSolverBodyData* data1;			//!< In: The second PxSolverBodyData. Stores mass and miscellaneous information for the second body
  
  	PxTransform bodyFrame0;					//!< In: The world-space transform of the first body.
  	PxTransform bodyFrame1;					//!< In: The world-space transform of the second body.
  
  	BodyState bodyState0;					//!< In: Defines what kind of actor the first body is
  	BodyState bodyState1;					//!< In: Defines what kind of actor the second body is
  };
  
  struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase
  {
  	PX_ALIGN(16, Px1DConstraint* rows);		//!< The start of the constraint rows
  	PxU32 numRows;							//!< The number of rows
  
  	PxReal linBreakForce, angBreakForce;	//!< Break forces
  	PxReal minResponseThreshold;			//!< The minimum response threshold
  	void* writeback;						//!< Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
  	bool disablePreprocessing;				//!< Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.	
  	bool improvedSlerp;						//!< Use improved slerp model
  	bool driveLimitsAreForces;				//!< Indicates whether drive limits are forces
  	bool extendedLimits;					//!< Indicates whether we want to use extended limits
  
  	PxVec3 body0WorldOffset;				//!< Body0 world offset
  };
  
  struct PxSolverContactDesc : public PxSolverConstraintPrepDescBase
  {
  	PX_ALIGN(16, Sc::ShapeInteraction* shapeInteraction); //!< Pointer to share interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.
  	Gu::ContactPoint* contacts;				//!< The start of the contacts for this pair
  	PxU32 numContacts;						//!< The total number of contacs this pair references.
  
  	bool hasMaxImpulse;						//!< Defines whether this pairs has maxImpulses clamping enabled
  	bool disableStrongFriction;				//!< Defines whether this pair disables strong friction (sticky friction correlation)
  	bool hasForceThresholds;				//!< Defines whether this pair requires force thresholds	
  
  	PxReal restDistance;					//!< A distance at which the solver should aim to hold the bodies separated. Default is 0
  	PxReal maxCCDSeparation;				//!< A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!
  
  	PxU8* frictionPtr;						//!< InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behaviour or discarded each frame.
  	PxU8 frictionCount;						//!< The total number of friction patches in this pair
  
  	PxReal* contactForces;					//!< Out: A buffer for the solver to write applied contact forces to.
  
  	PxU32 startFrictionPatchIndex;			//!< Start index of friction patch in the correlation buffer. Set by friction correlation
  	PxU32 numFrictionPatches;				//!< Total number of friction patches in this pair. Set by friction correlation
  
  	PxU32 startContactPatchIndex;			//!< The start index of this pair's contact patches in the correlation buffer. For internal use only
  	PxU16 numContactPatches;				//!< Total number of contact patches.
  	PxU16 axisConstraintCount;				//!< Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.
  
  	PxU8 pad[16 - sizeof(void*)];
  };
  
  class PxConstraintAllocator
  {
  public:
  	/**
  	\brief Allocates constraint data. It is the application's responsibility to release this memory after PxSolveConstraints has completed.
  	\param[in] byteSize Allocation size in bytes
  	\return the allocated memory. This address must be 16-byte aligned.
  	*/
  	virtual PxU8* reserveConstraintData(const PxU32 byteSize) = 0;
  
  	/**
  	\brief Allocates friction data. Friction data can be retained by the application for a given pair and provided as an input to PxSolverContactDesc to improve simulation stability.
  	It is the application's responsibility to release this memory. If this memory is released, the application should ensure it does not pass pointers to this memory to PxSolverContactDesc.
  	\param[in] byteSize Allocation size in bytes
  	\return the allocated memory. This address must be 4-byte aligned.
  	*/
  	virtual PxU8* reserveFrictionData(const PxU32 byteSize) = 0;
  
  	virtual ~PxConstraintAllocator() {}
  };
  
  struct PxArticulationAxis
  {
  	enum Enum
  	{
  		eTWIST = 0,
  		eSWING1 = 1,
  		eSWING2 = 2,
  		eX = 3,
  		eY = 4,
  		eZ = 5,
  		eCOUNT = 6
  	};
  };
  
  PX_FLAGS_OPERATORS(PxArticulationAxis::Enum, PxU8)
  
  struct PxArticulationMotion
  {
  	enum Enum
  	{
  		eLOCKED = 0,
  		eLIMITED = 1,
  		eFREE = 2
  	};
  };
  
  typedef PxFlags<PxArticulationMotion::Enum, PxU8> PxArticulationMotions;
  PX_FLAGS_OPERATORS(PxArticulationMotion::Enum, PxU8)
  
  struct PxArticulationJointType
  {
  	enum Enum
  	{
  		ePRISMATIC = 0,
  		eREVOLUTE = 1,
  		eSPHERICAL = 2,
  		eFIX = 3,
  		eUNDEFINED = 4
  	};
  };
  
  struct PxArticulationFlag
  {
  	enum Enum
  	{
  		eFIX_BASE = (1 << 0),
  		eDRIVE_LIMITS_ARE_FORCES = (1<<1)
  	};
  };
  
  typedef PxFlags<PxArticulationFlag::Enum, PxU8> PxArticulationFlags;
  PX_FLAGS_OPERATORS(PxArticulationFlag::Enum, PxU8)
  
  struct PxArticulationDriveType
  {
  	enum Enum
  	{
  		eFORCE = 0,
  		eACCELERATION = 1,
  		eTARGET = 2,
  		eVELOCITY = 3,
  		eNONE = 4
  	};
  };
  
  struct PxArticulationLimit
  {
  	PxReal low, high;
  };
  
  struct PxArticulationDrive
  {
  	PxReal stiffness, damping, maxForce;
  	PxArticulationDriveType::Enum driveType;
  };
  
  
  struct PxTGSSolverBodyVel
  {
  	PX_ALIGN(16, PxVec3) linearVelocity;			//12
  	PxU16			nbStaticInteractions;	//14 Used to accumulate the number of static interactions
  	PxU16			maxDynamicPartition;	//16 Used to accumualte the max partition of dynamic interactions
  	PxVec3			angularVelocity;		//28
  	PxU32			partitionMask;			//32 Used in partitioning as a bit-field
  	PxVec3			deltaAngDt;				//44
  	PxReal			maxAngVel;				//48
  	PxVec3			deltaLinDt;				//60
  	PxU16			lockFlags;				//62
  	bool			isKinematic;			//63
  	PxU8			pad;					//64
  
  	PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang)	const
  	{
  		return linearVelocity.dot(lin) + angularVelocity.dot(ang);
  	}
  
  };
  
  //Needed only by prep, integration and 1D constraints
  struct PxTGSSolverBodyTxInertia
  {
  	PxTransform deltaBody2World;
  	PxMat33 sqrtInvInertia;
  };
  
  struct PxTGSSolverBodyData
  {
  	PX_ALIGN(16, PxVec3) originalLinearVelocity;
  	PxReal maxContactImpulse;
  	PxVec3 originalAngularVelocity;
  	PxReal penBiasClamp;
  
  	PxReal invMass;
  	PxU32 nodeIndex;
  	PxReal reportThreshold;
  	PxU32 pad;
  
  	PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const
  	{
  		return originalLinearVelocity.dot(linear) + originalAngularVelocity.dot(angular);
  	}
  };
  
  struct PxTGSSolverConstraintPrepDescBase
  {
  	PxConstraintInvMassScale invMassScales;	//!< In: The local mass scaling for this pair.
  
  	PxSolverConstraintDesc* desc;				//!< Output: The PxSolverConstraintDesc filled in by contact prep
  
  	const PxTGSSolverBodyVel* body0;					//!< In: The first body. Stores velocity information. Unused unless contact involves articulations.
  	const PxTGSSolverBodyVel *body1;					//!< In: The second body. Stores velocity information. Unused unless contact involves articulations.
  
  	const PxTGSSolverBodyTxInertia* body0TxI;
  	const PxTGSSolverBodyTxInertia* body1TxI;
  
  	const PxTGSSolverBodyData* bodyData0;
  	const PxTGSSolverBodyData* bodyData1;
  
  	PxTransform bodyFrame0;						//!< In: The world-space transform of the first body.
  	PxTransform bodyFrame1;						//!< In: The world-space transform of the second body.
  
  	PxSolverContactDesc::BodyState bodyState0;						//!< In: Defines what kind of actor the first body is
  	PxSolverContactDesc::BodyState bodyState1;						//!< In: Defines what kind of actor the second body is
  
  };
  
  struct PxTGSSolverConstraintPrepDesc : public PxTGSSolverConstraintPrepDescBase
  {
  	Px1DConstraint* rows;			//!< The start of the constraint rows
  	PxU32 numRows;								//!< The number of rows
  
  	PxReal linBreakForce, angBreakForce;		//!< Break forces
  	PxReal minResponseThreshold;				//!< The minimum response threshold
  	void* writeback;							//!< Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
  	bool disablePreprocessing;					//!< Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.	
  	bool improvedSlerp;							//!< Use improved slerp model
  	bool driveLimitsAreForces;					//!< Indicates whether drive limits are forces
  	bool extendedLimits;						//!< Indiciates whether extended limits are used
  
  	PxVec3 body0WorldOffset;					//!< Body0 world offset
  	PxVec3 cA2w;								//!< Location of anchor point A in world space
  	PxVec3 cB2w;								//!< Location of anchor point B in world space
  };
  
  
  struct PxTGSSolverContactDesc : public PxTGSSolverConstraintPrepDescBase
  {
  
  	Sc::ShapeInteraction* shapeInteraction; //!< Pointer to share interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.
  	Gu::ContactPoint* contacts;				//!< The start of the contacts for this pair
  	PxU32 numContacts;						//!< The total number of contacs this pair references.
  
  	bool hasMaxImpulse;						//!< Defines whether this pairs has maxImpulses clamping enabled
  	bool disableStrongFriction;				//!< Defines whether this pair disables strong friction (sticky friction correlation)
  	bool hasForceThresholds;				//!< Defines whether this pair requires force thresholds	
  
  	PxReal restDistance;					//!< A distance at which the solver should aim to hold the bodies separated. Default is 0
  	PxReal maxCCDSeparation;				//!< A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!
  
  	PxU8* frictionPtr;						//!< InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behaviour or discarded each frame.
  	PxU8 frictionCount;						//!< The total number of friction patches in this pair
  
  	PxReal* contactForces;					//!< Out: A buffer for the solver to write applied contact forces to.
  
  	PxU32 startFrictionPatchIndex;			//!< Start index of friction patch in the correlation buffer. Set by friction correlation
  	PxU32 numFrictionPatches;				//!< Total number of friction patches in this pair. Set by friction correlation
  
  	PxU32 startContactPatchIndex;			//!< The start index of this pair's contact patches in the correlation buffer. For internal use only
  	PxU16 numContactPatches;				//!< Total number of contact patches.
  	PxU16 axisConstraintCount;				//!< Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.
  
  	PxReal maxImpulse;
  
  	PxReal torsionalPatchRadius;
  	PxReal minTorsionalPatchRadius;
  };
  
  #if !PX_DOXYGEN
  }
  #endif
  
  #if PX_VC
  #pragma warning(pop)
  #endif
  
  #endif
  
  #pragma warning(pop)