Method resize

deps/physx/physx/source/lowleveldynamics/src/DyArticulation.cpp:201–242

#endif

bool Dy::Articulation::resize(const PxU32 linkCount)
{
	if (mUpdateSolverData)
	{
		if (linkCount != mSolverDesc.linkCount)
		{
			PxU32 solverDataSize, totalSize, scratchSize;
			getDataSizes(linkCount, solverDataSize, totalSize, scratchSize);

			PX_ASSERT(mFsDataBytes.size() != totalSize);
			PX_ASSERT(!(totalSize & 15) && !(solverDataSize & 15));
			mFsDataBytes.resize(totalSize);

			mExternalLoads.resize(linkCount, Ps::aos::M33Identity());
			mInternalLoads.resize(linkCount, Ps::aos::M33Identity());
			mPose.resize(linkCount, PxTransform(PxIdentity));

			mDeltaQ.resize(linkCount, PxQuat(PxIdentity));

			mSolverDesc.externalLoads = mExternalLoads.begin();
			mSolverDesc.internalLoads = mInternalLoads.begin();

			mScratchMemory.resize(scratchSize);
			mSolverDesc.scratchMemory = mScratchMemory.begin();
			mSolverDesc.scratchMemorySize = Ps::to16(scratchSize);

			mSolverDesc.solverDataSize = Ps::to16(solverDataSize);
			mSolverDesc.totalDataSize = Ps::to16(totalSize);
			mSolverDesc.poses = mPose.begin();
			mSolverDesc.deltaQ = mDeltaQ.begin();

			mMotionVelocity.resize(linkCount, Cm::SpatialVector(PxVec3(0.0f), PxVec3(0.0f)));

			mSolverDesc.motionVelocity = mMotionVelocity.begin();
		}
		Dy::ArticulationV::resize(linkCount);
		
		return true;
	}

	return false;
}

bool Dy::ArticulationV::resize(const PxU32 linkCount)
{