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_SOLVER_CONTROL_H
++ #define DY_SOLVER_CONTROL_H
++
++ #include "DySolverCore.h"
++
++ namespace physx
++ {
++ namespace Dy
++ {
++
++ /*
++ solves dual problem exactly by GS-iterating until convergence stops
++ only uses regular velocity vector for storing results, and backs up initial state, which is restored.
++ the solution forces are saved in a vector.
++
++ state should not be stored, this function is safe to call from multiple threads.
++ */
++ void solveVParallelAndWriteBack(SolverIslandParams& params, Cm::SpatialVectorF* deltaV, PxReal articulationBiasCoefficient,
++ bool solveFrictionEveryIteration, bool solveArticulationContactLast);
++
++ void solveV_Blocks(SolverIslandParams& params, PxReal articulationBiasCoefficient, bool solveFrictionEveryIteration, bool solveArticulationContactLast);
++
++ }
++ }
++
++ #endif