Extras/PhysicsEffects/include/physics_effects/low_level/solver/pfx_constraint_solver.h

   1 /*\r
   2 Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.\r
   3 All rights reserved.\r
   4 \r
   5 Physics Effects is open software; you can redistribute it and/or\r
   6 modify it under the terms of the BSD License.\r
   7 \r
   8 Physics Effects is distributed in the hope that it will be useful,\r
   9 but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  10 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\r
  11 See the BSD License for more details.\r
  12 \r
  13 A copy of the BSD License is distributed with\r
  14 Physics Effects under the filename: physics_effects_license.txt\r
  15 */\r
  16 \r
  17 #ifndef _SCE_PFX_CONSTRAINT_SOLVER_H\r
  18 #define _SCE_PFX_CONSTRAINT_SOLVER_H\r
  19 \r
  20 #include "../../base_level/rigidbody/pfx_rigid_body.h"\r
  21 #include "../../base_level/rigidbody/pfx_rigid_state.h"\r
  22 #include "../../base_level/solver/pfx_solver_body.h"\r
  23 #include "../../base_level/solver/pfx_constraint_pair.h"\r
  24 #include "../../base_level/solver/pfx_joint.h"\r
  25 #include "../../base_level/collision/pfx_contact_manifold.h"\r
  26 \r
  27 #include "../task/pfx_task_manager.h"\r
  28 \r
  29 namespace sce {\r
  30 namespace PhysicsEffects {\r
  31 \r
  32 ///////////////////////////////////////////////////////////////////////////////\r
  33 // Setup Solver Bodies\r
  34 \r
  35 struct PfxSetupSolverBodiesParam {\r
  36         PfxRigidState *states;\r
  37         PfxRigidBody *bodies;\r
  38         PfxSolverBody *solverBodies;\r
  39         PfxUInt32 numRigidBodies;\r
  40 };\r
  41 \r
  42 PfxInt32 pfxSetupSolverBodies(PfxSetupSolverBodiesParam &param);\r
  43 \r
  44 PfxInt32 pfxSetupSolverBodies(PfxSetupSolverBodiesParam &param,PfxTaskManager *taskManager);\r
  45 \r
  46 ///////////////////////////////////////////////////////////////////////////////\r
  47 // Setup Constraints\r
  48 \r
  49 struct PfxSetupContactConstraintsParam {\r
  50         PfxConstraintPair *contactPairs;\r
  51         PfxUInt32 numContactPairs;\r
  52         PfxContactManifold *offsetContactManifolds;\r
  53         PfxRigidState *offsetRigidStates;\r
  54         PfxRigidBody *offsetRigidBodies;\r
  55         PfxSolverBody *offsetSolverBodies;\r
  56         PfxUInt32 numRigidBodies;\r
  57         PfxFloat timeStep;\r
  58         PfxFloat separateBias;\r
  59         \r
  60         PfxSetupContactConstraintsParam()\r
  61         {\r
  62                 timeStep = 0.016f;\r
  63                 separateBias = 0.2f;\r
  64         }\r
  65 };\r
  66 \r
  67 PfxInt32 pfxSetupContactConstraints(PfxSetupContactConstraintsParam &param);\r
  68 \r
  69 PfxInt32 pfxSetupContactConstraints(PfxSetupContactConstraintsParam &param,PfxTaskManager *taskManager);\r
  70 \r
  71 struct PfxSetupJointConstraintsParam {\r
  72         PfxConstraintPair *jointPairs;\r
  73         PfxUInt32 numJointPairs;\r
  74         PfxJoint *offsetJoints;\r
  75         PfxRigidState *offsetRigidStates;\r
  76         PfxRigidBody *offsetRigidBodies;\r
  77         PfxSolverBody *offsetSolverBodies;\r
  78         PfxUInt32 numRigidBodies;\r
  79         PfxFloat timeStep;\r
  80 \r
  81         PfxSetupJointConstraintsParam()\r
  82         {\r
  83                 timeStep = 0.016f;\r
  84         }\r
  85 };\r
  86 \r
  87 PfxInt32 pfxSetupJointConstraints(PfxSetupJointConstraintsParam &param);\r
  88 \r
  89 PfxInt32 pfxSetupJointConstraints(PfxSetupJointConstraintsParam &param,PfxTaskManager *taskManager);\r
  90 \r
  91 ///////////////////////////////////////////////////////////////////////////////\r
  92 // Solve Constraints\r
  93 \r
  94 struct PfxSolveConstraintsParam {\r
  95         void *workBuff;\r
  96         PfxUInt32 workBytes;\r
  97         PfxConstraintPair *contactPairs;\r
  98         PfxUInt32 numContactPairs;\r
  99         PfxContactManifold *offsetContactManifolds;\r
 100         PfxConstraintPair *jointPairs;\r
 101         PfxUInt32 numJointPairs;\r
 102         PfxJoint *offsetJoints;\r
 103         PfxRigidState *offsetRigidStates;\r
 104         PfxSolverBody *offsetSolverBodies;\r
 105         PfxUInt32 numRigidBodies;\r
 106         PfxUInt32 iteration;\r
 107         \r
 108         PfxSolveConstraintsParam()\r
 109         {\r
 110                 iteration = 5;\r
 111         }\r
 112 };\r
 113 \r
 114 PfxUInt32 pfxGetWorkBytesOfSolveConstraints(PfxUInt32 numRigidBodies,PfxUInt32 numContactPairs,PfxUInt32 numJointPairs,PfxUInt32 maxTasks=1);\r
 115 \r
 116 PfxInt32 pfxSolveConstraints(PfxSolveConstraintsParam &param);\r
 117 \r
 118 PfxInt32 pfxSolveConstraints(PfxSolveConstraintsParam &param,PfxTaskManager *taskManager);\r
 119 \r
 120 } //namespace PhysicsEffects\r
 121 } //namespace sce\r
 122 #endif // _SCE_PFX_CONSTRAINT_SOLVER_H\r
 123 \r