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#ifndef DY_SOLVERCONTROLPF_H
#define DY_SOLVERCONTROLPF_H

#include "DySolverCore.h"
#include "DySolverConstraintDesc.h"

namespace physx
{

namespace Dy
{

class SolverCoreGeneralPF : public SolverCore
{
public:
	static SolverCoreGeneralPF* create();

	// Implements SolverCore
	virtual void destroyV();

	virtual PxI32 solveVParallelAndWriteBack
		(SolverIslandParams& params, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV) const;

	virtual void solveV_Blocks
		(SolverIslandParams& params) const;

	virtual void writeBackV
		(const PxSolverConstraintDesc* PX_RESTRICT constraintList, const PxU32 constraintListSize, PxConstraintBatchHeader* contactConstraintBatches, const PxU32 numBatches,
		 ThresholdStreamElement* PX_RESTRICT thresholdStream, const PxU32 thresholdStreamLength, PxU32& outThresholdPairs,
		 PxSolverBodyData* atomListData, WriteBackBlockMethod writeBackTable[]) const;

private:

	//~Implements SolverCore
};

}

}

#endif //DY_SOLVERCOREGENERALPF_H
