text: //
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  //  * 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
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  // PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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  // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  //
  // Copyright (c) 2008-2018 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 EXT_CLOTH_CORE_UTILTY_TYPES_H
  #define EXT_CLOTH_CORE_UTILTY_TYPES_H
  /** \addtogroup common
  @{
  */
  
  #include "PxAssert.h"
  #include "PxFlags.h"
  
  #if !PX_DOXYGEN
  namespace nvidia
  {
  #endif
  
  
  struct PxStridedData
  {
  	/**
  	\brief The offset in bytes between consecutive samples in the data.
  
  	<b>Default:</b> 0
  	*/
  	uint32_t stride;
  	const void* data;
  
  	PxStridedData() : stride( 0 ), data( NULL ) {}
  
  	template<typename TDataType>
  	PX_INLINE const TDataType& at( uint32_t idx ) const
  	{
  		uint32_t theStride( stride );
  		if ( theStride == 0 )
  			theStride = sizeof( TDataType );
  		uint32_t offset( theStride * idx );
  		return *(reinterpret_cast<const TDataType*>( reinterpret_cast< const uint8_t* >( data ) + offset ));
  	}
  };
  
  template<typename TDataType>
  struct PxTypedStridedData
  {
  	uint32_t stride;
  	const TDataType* data;
  
  	PxTypedStridedData()
  		: stride( 0 )
  		, data( NULL )
  	{
  	}
  
  };
  
  struct PxBoundedData : public PxStridedData
  {
  	uint32_t count;
  	PxBoundedData() : count( 0 ) {}
  };
  
  template<uint8_t TNumBytes>
  struct PxPadding
  {
  	uint8_t mPadding[TNumBytes];
  	PxPadding()
  	{
  		for ( uint8_t idx =0; idx < TNumBytes; ++idx )
  			mPadding[idx] = 0;
  	}
  };
  
  template <uint32_t NB_ELEMENTS> class PxFixedSizeLookupTable
  {
  //= ATTENTION! =====================================================================================
  // Changing the data layout of this class breaks the binary serialization format.  See comments for 
  // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
  // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
  // accordingly.
  //==================================================================================================
  public:
  	
  	PxFixedSizeLookupTable() 
  		: mNbDataPairs(0)
  	{
  	}
  
  	PxFixedSizeLookupTable(const physx::PxEMPTY) {}
  
  	PxFixedSizeLookupTable(const float* dataPairs, const uint32_t numDataPairs)
  	{
  		memcpy(mDataPairs,dataPairs,sizeof(float)*2*numDataPairs);
  		mNbDataPairs=numDataPairs;
  	}
  
  	PxFixedSizeLookupTable(const PxFixedSizeLookupTable& src)
  	{
  		memcpy(mDataPairs,src.mDataPairs,sizeof(float)*2*src.mNbDataPairs);
  		mNbDataPairs=src.mNbDataPairs;
  	}
  
  	~PxFixedSizeLookupTable()
  	{
  	}
  
  	PxFixedSizeLookupTable& operator=(const PxFixedSizeLookupTable& src)
  	{
  		memcpy(mDataPairs,src.mDataPairs,sizeof(float)*2*src.mNbDataPairs);
  		mNbDataPairs=src.mNbDataPairs;
  		return *this;
  	}
  
  	PX_FORCE_INLINE void addPair(const float x, const float y)
  	{
  		PX_ASSERT(mNbDataPairs<NB_ELEMENTS);
  		mDataPairs[2*mNbDataPairs+0]=x;
  		mDataPairs[2*mNbDataPairs+1]=y;
  		mNbDataPairs++;
  	}
  
  	PX_FORCE_INLINE float getYVal(const float x) const
  	{
  		if(0==mNbDataPairs)
  		{
  			PX_ASSERT(false);
  			return 0;
  		}
  
  		if(1==mNbDataPairs || x<getX(0))
  		{
  			return getY(0);
  		}
  
  		float x0=getX(0);
  		float y0=getY(0);
  
  		for (uint32_t i = 1; i<mNbDataPairs; i++)
  		{
  			const float x1=getX(i);
  			const float y1=getY(i);
  
  			if((x>=x0)&&(x<x1))
  			{
  				return (y0+(y1-y0)*(x-x0)/(x1-x0));
  			}
  
  			x0=x1;
  			y0=y1;
  		}
  
  		PX_ASSERT(x>=getX(mNbDataPairs-1));
  		return getY(mNbDataPairs-1);
  	}
  
  	uint32_t getNbDataPairs() const {return mNbDataPairs;}
  	
  	void clear()
  	{
  		memset(mDataPairs, 0, NB_ELEMENTS*2*sizeof(float));
  		mNbDataPairs = 0;
  	}
  
  	PX_FORCE_INLINE float getX(const uint32_t i) const
  	{
  		return mDataPairs[2*i];
  	}
  	PX_FORCE_INLINE float getY(const uint32_t i) const
  	{
  		return mDataPairs[2*i+1];
  	}
  
  	float mDataPairs[2*NB_ELEMENTS];
  	uint32_t mNbDataPairs;
  	uint32_t mPad[3];
  
  	
  };
  
  struct PxMeshFlag
  {
  	enum Enum
  	{
  		/**
  		\brief Specifies if the SDK should flip normals.
  
  		The PhysX libraries assume that the face normal of a triangle with vertices [a,b,c] can be computed as:
  		edge1 = b-a
  		edge2 = c-a
  		face_normal = edge1 x edge2.
  
  		Note: This is the same as a counterclockwise winding in a right handed coordinate system or
  		alternatively a clockwise winding order in a left handed coordinate system.
  
  		If this does not match the winding order for your triangles, raise the below flag.
  		*/
  		eFLIPNORMALS		=	(1<<0),
  		e16_BIT_INDICES		=	(1<<1)	//!< Denotes the use of 16-bit vertex indices
  	};
  };
  
  /**
  \brief collection of set bits defined in PxMeshFlag.
  
  @see PxMeshFlag
  */
  typedef physx::PxFlags<PxMeshFlag::Enum, uint16_t> PxMeshFlags;
  using physx::PxFlags;
  PX_FLAGS_OPERATORS(PxMeshFlag::Enum, uint16_t)
  
  #if !PX_DOXYGEN
  } // namespace nvidia
  #endif
  
  
  /** @} */
  #endif
  