Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef DY_CONSTRAINT_H
++ #define DY_CONSTRAINT_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxTransform.h"
++ #include "PxPhysXConfig.h"
++ #include "PxvDynamics.h"
++ #include "PxConstraint.h"
++ #include "DyConstraintWriteBack.h"
++
++ namespace physx
++ {
++
++ class PxsRigidBody;
++
++ namespace Dy
++ {
++
++ #if PX_VC
++ #pragma warning(push)
++ #pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
++ #endif
++ PX_ALIGN_PREFIX(16)
++ struct Constraint
++ {
++ public:
++
++ PxReal linBreakForce;
++ PxReal angBreakForce;
++ PxU16 constantBlockSize;
++ PxU16 flags;
++
++ PxConstraintSolverPrep solverPrep;
++ void* constantBlock;
++
++ PxsRigidBody* body0;
++ PxsRigidBody* body1;
++
++ PxsBodyCore* bodyCore0;
++ PxsBodyCore* bodyCore1;
++ PxU32 index;
++ PxReal minResponseThreshold;
++ }
++ PX_ALIGN_SUFFIX(16);
++ #if PX_VC
++ #pragma warning(pop)
++ #endif
++
++ #if !PX_P64_FAMILY
++ PX_COMPILE_TIME_ASSERT(48==sizeof(Constraint));
++ #endif
++
++ }
++
++ }
++
++ #endif