Revision control
- // Redistribution and use in source and binary forms, with or without
- // modification, are permitted provided that the following conditions
- // are met:
- // * Redistributions of source code must retain the above copyright
- // notice, this list of conditions and the following disclaimer.
- // * Redistributions in binary form must reproduce the above copyright
- // notice, this list of conditions and the following disclaimer in the
- // documentation and/or other materials provided with the distribution.
- // * Neither the name of NVIDIA CORPORATION nor the names of its
- // contributors may be used to endorse or promote products derived
- // from this software without specific prior written permission.
- //
- // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
- // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- //
- // Copyright (c) 2008-2026 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_SOLVER_CONSTRAINT_EXT_SHARED_H
- #define DY_SOLVER_CONSTRAINT_EXT_SHARED_H
-
- #include "foundation/PxPreprocessor.h"
- #include "foundation/PxVecMath.h"
- #include "DyArticulationContactPrep.h"
- #include "DySolverConstraintDesc.h"
- #include "DySolverConstraint1D.h"
- #include "DySolverContact.h"
- #include "PxcNpWorkUnit.h"
- #include "PxsMaterialManager.h"
-
- namespace physx
- {
- namespace Dy
- {
- FloatV setupExtSolverContact(const SolverExtBody& b0, const SolverExtBody& b1,
- const FloatV& d0, const FloatV& d1, const FloatV& angD0, const FloatV& angD1, const Vec3V& bodyFrame0p, const Vec3V& bodyFrame1p,
- const Vec3VArg normal, const FloatVArg invDt, const FloatVArg invDtWithBiasCoefficient, const FloatVArg dt,
- const FloatVArg restDistance, const FloatVArg maxPenBias, const FloatVArg restitution,
- const FloatVArg bounceThreshold, const PxContactPoint& contact, SolverContactPointExt& solverContact, const FloatVArg ccdMaxSeparation,
- Cm::SpatialVectorF* Z, const Cm::SpatialVectorV& v0, const Cm::SpatialVectorV& v1, const FloatV& cfm, const Vec3VArg solverOffsetSlop,
- const FloatVArg norVel0, const FloatVArg norVel1, const FloatVArg damping, const BoolVArg accelerationSpring);
- } //namespace Dy
- }
-
- #endif