/* This file contains all the data associated with a kinematic model */

#include "kmModelDefines.h"
#include "defines.h"

//loop variables
extern const int szData[Nsegs];
extern const int tierOffsets[Ntiers];

//CUDA tier processing variables
extern const int tierIdx0[2];
extern const int tierIdx1[1];
extern const int tierIdx2[3];
extern const int tierIdx3[3];
extern const int tierIdx4[3];
extern const int* TierIdxPtrArr[Nsegs];
extern const int tierIdxN[Nsegs];

//Default kinematic model configuration: points and norms by segment
extern const float* DataPtrArr[Nsegs];
extern const float* NormsPtrArr[Nsegs];

extern const float Data0[4][szData0];
extern const float Norms0[4][szData0];

extern const float Data1[4][szData1];
extern const float Norms1[4][szData1];

extern const float Data2[4][szData2];
extern const float Norms2[4][szData2];

extern const float Data3[4][szData3];
extern const float Norms3[4][szData3];

extern const float Data4[4][szData4];
extern const float Norms4[4][szData4];

//The rotation axes: global followed by joints
extern const float w[Nrots][3];

//anchor points along each rotation axis
extern const float q[Nrots][3];

//joint bounds
extern const float bounds[2][Njoints];