Revision control
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef DY_SOLVER_BODY_H
++ #define DY_SOLVER_BODY_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxMat33.h"
++ #include "CmSpatialVector.h"
++ #include "solver/PxSolverDefs.h"
++
++ namespace physx
++ {
++
++ class PxsRigidBody;
++ struct PxsBodyCore;
++
++ namespace Dy
++ {
++
++ // PT: TODO: make sure this is still needed / replace with V4sqrt
++ PX_FORCE_INLINE PxVec3 computeSafeSqrtInertia(const PxVec3& v)
++ {
++ return PxVec3(PxSqrt(v.x), PxSqrt(v.y), PxSqrt(v.z));
++ }
++
++ void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
++ PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold, PxSolverBodyData& solverBodyData, PxU32 lockFlags,
++ PxReal dt, bool gyroscopicForces);
++
++ // PT: TODO: using PxsBodyCore in the interface makes us write less data to the stack for passing arguments, and we can take advantage of the class layout
++ // (we know what is aligned or not, we know if it is safe to V4Load vectors, etc). Note that this is what we previously had, which is why PxsBodyCore was still
++ // forward-referenced above.
++ //void copyToSolverBodyData(PxSolverBodyData& solverBodyData, const PxsBodyCore& core, const PxU32 nodeIndex);
++
++ }
++
++ }
++
++ #endif