584 lines
15 KiB
C
584 lines
15 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_CONTACT_H
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#define PX_CONTACT_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxAssert.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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#if PX_VC
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#pragma warning(push)
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#pragma warning(disable: 4324) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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#define PXC_CONTACT_NO_FACE_INDEX 0xffffffff
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PX_ALIGN_PREFIX(16)
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struct PxMassModificationProps
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{
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PxReal mInvMassScale0;
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PxReal mInvInertiaScale0;
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PxReal mInvMassScale1;
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PxReal mInvInertiaScale1;
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief Header for contact patch where all points share same material and normal
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*/
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PX_ALIGN_PREFIX(16)
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struct PxContactPatch
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{
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enum PxContactPatchFlags
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{
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eHAS_FACE_INDICES = 1, //!< Indicates this contact stream has face indices.
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eMODIFIABLE = 2, //!< Indicates this contact stream is modifiable.
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eFORCE_NO_RESPONSE = 4, //!< Indicates this contact stream is notify-only (no contact response).
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eHAS_MODIFIED_MASS_RATIOS = 8, //!< Indicates this contact stream has modified mass ratios
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eHAS_TARGET_VELOCITY = 16, //!< Indicates this contact stream has target velocities set
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eHAS_MAX_IMPULSE = 32, //!< Indicates this contact stream has max impulses set
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eREGENERATE_PATCHES = 64, //!< Indicates this contact stream needs patches re-generated.
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//!< This is required if the application modified either the contact normal or the material properties
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eCOMPRESSED_MODIFIED_CONTACT = 128
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};
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PX_ALIGN(16, PxMassModificationProps mMassModification); //16
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/**
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\brief Contact normal
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*/
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PX_ALIGN(16, PxVec3 normal); //28
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/**
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\brief Restitution coefficient
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*/
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PxReal restitution; //32
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PxReal dynamicFriction; //36
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PxReal staticFriction; //40
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PxU8 startContactIndex; //41
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PxU8 nbContacts; //42 //Can be a U8
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PxU8 materialFlags; //43 //Can be a U16
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PxU8 internalFlags; //44 //Can be a U16
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PxU16 materialIndex0; //46 //Can be a U16
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PxU16 materialIndex1; //48 //Can be a U16
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief Contact point data including face (feature) indices
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*/
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PX_ALIGN_PREFIX(16)
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struct PxContact
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{
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/**
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\brief Contact point in world space
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*/
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PxVec3 contact; //12
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/**
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\brief Separation value (negative implies penetration).
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*/
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PxReal separation; //16
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}
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PX_ALIGN_SUFFIX(16);
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PX_ALIGN_PREFIX(16)
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struct PxExtendedContact : public PxContact
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{
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/**
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\brief Target velocity
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*/
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PX_ALIGN(16, PxVec3 targetVelocity); //28
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/**
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\brief Maximum impulse
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*/
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PxReal maxImpulse; //32
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief A modifiable contact point. This has additional fields per-contact to permit modification by user.
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\note Not all fields are currently exposed to the user.
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*/
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PX_ALIGN_PREFIX(16)
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struct PxModifiableContact : public PxExtendedContact
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{
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/**
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\brief Contact normal
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*/
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PX_ALIGN(16, PxVec3 normal); //44
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/**
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\brief Restitution coefficient
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*/
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PxReal restitution; //48
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/**
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\brief Material Flags
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*/
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PxU32 materialFlags; //52
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/**
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\brief Shape A's material index
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*/
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PxU16 materialIndex0; //54
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/**
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\brief Shape B's material index
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*/
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PxU16 materialIndex1; //56
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/**
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\brief static friction coefficient
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*/
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PxReal staticFriction; //60
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/**
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\brief dynamic friction coefficient
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*/
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PxReal dynamicFriction; //64
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief A class to iterate over a compressed contact stream. This supports read-only access to the various contact formats.
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*/
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struct PxContactStreamIterator
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{
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enum StreamFormat
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{
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eSIMPLE_STREAM,
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eMODIFIABLE_STREAM,
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eCOMPRESSED_MODIFIABLE_STREAM
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};
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/**
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\brief Utility zero vector to optimize functions returning zero vectors when a certain flag isn't set.
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\note This allows us to return by reference instead of having to return by value. Returning by value will go via memory (registers -> stack -> registers), which can
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cause performance issues on certain platforms.
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*/
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PxVec3 zero;
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/**
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\brief The patch headers.
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*/
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const PxContactPatch* patch;
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/**
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\brief The contacts
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*/
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const PxContact* contact;
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/**
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\brief The contact triangle face index
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*/
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const PxU32* faceIndice;
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/**
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\brief The total number of patches in this contact stream
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*/
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PxU32 totalPatches;
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/**
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\brief The total number of contact points in this stream
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*/
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PxU32 totalContacts;
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/**
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\brief The current contact index
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*/
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PxU32 nextContactIndex;
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/**
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\brief The current patch Index
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*/
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PxU32 nextPatchIndex;
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/*
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\brief Size of contact patch header
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\note This varies whether the patch is modifiable or not.
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*/
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PxU32 contactPatchHeaderSize;
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/**
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\brief Contact point size
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\note This varies whether the patch has feature indices or is modifiable.
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*/
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PxU32 contactPointSize;
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/**
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\brief The stream format
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*/
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StreamFormat mStreamFormat;
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/**
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\brief Indicates whether this stream is notify-only or not.
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*/
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PxU32 forceNoResponse;
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bool pointStepped;
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PxU32 hasFaceIndices;
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/**
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\brief Constructor
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxContactStreamIterator(const PxU8* contactPatches, const PxU8* contactPoints, const PxU32* contactFaceIndices, PxU32 nbPatches, PxU32 nbContacts)
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: zero(0.f)
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{
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bool modify = false;
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bool compressedModify = false;
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bool response = false;
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bool indices = false;
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PxU32 pointSize = 0;
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PxU32 patchHeaderSize = sizeof(PxContactPatch);
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const PxContactPatch* patches = reinterpret_cast<const PxContactPatch*>(contactPatches);
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if(patches)
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{
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modify = (patches->internalFlags & PxContactPatch::eMODIFIABLE) != 0;
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compressedModify = (patches->internalFlags & PxContactPatch::eCOMPRESSED_MODIFIED_CONTACT) != 0;
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indices = (patches->internalFlags & PxContactPatch::eHAS_FACE_INDICES) != 0;
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patch = patches;
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contact = reinterpret_cast<const PxContact*>(contactPoints);
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faceIndice = contactFaceIndices;
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pointSize = compressedModify ? sizeof(PxExtendedContact) : modify ? sizeof(PxModifiableContact) : sizeof(PxContact);
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response = (patch->internalFlags & PxContactPatch::eFORCE_NO_RESPONSE) == 0;
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}
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mStreamFormat = compressedModify ? eCOMPRESSED_MODIFIABLE_STREAM : modify ? eMODIFIABLE_STREAM : eSIMPLE_STREAM;
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hasFaceIndices = PxU32(indices);
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forceNoResponse = PxU32(!response);
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contactPatchHeaderSize = patchHeaderSize;
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contactPointSize = pointSize;
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nextPatchIndex = 0;
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nextContactIndex = 0;
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totalContacts = nbContacts;
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totalPatches = nbPatches;
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pointStepped = false;
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}
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/**
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\brief Returns whether there are more patches in this stream.
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\return Whether there are more patches in this stream.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNextPatch() const
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{
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return nextPatchIndex < totalPatches;
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}
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/**
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\brief Returns the total contact count.
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\return Total contact count.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getTotalContactCount() const
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{
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return totalContacts;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getTotalPatchCount() const
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{
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return totalPatches;
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}
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/**
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\brief Advances iterator to next contact patch.
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*/
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PX_CUDA_CALLABLE PX_INLINE void nextPatch()
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{
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PX_ASSERT(nextPatchIndex < totalPatches);
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if(nextPatchIndex)
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{
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if(nextContactIndex < patch->nbContacts)
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{
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PxU32 nbToStep = patch->nbContacts - this->nextContactIndex;
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contact = reinterpret_cast<const PxContact*>(reinterpret_cast<const PxU8*>(contact) + contactPointSize * nbToStep);
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}
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patch = reinterpret_cast<const PxContactPatch*>(reinterpret_cast<const PxU8*>(patch) + contactPatchHeaderSize);
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}
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nextPatchIndex++;
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nextContactIndex = 0;
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}
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/**
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\brief Returns if the current patch has more contacts.
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\return If there are more contacts in the current patch.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNextContact() const
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{
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return nextContactIndex < (patch->nbContacts);
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}
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/**
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\brief Advances to the next contact in the patch.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void nextContact()
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{
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PX_ASSERT(nextContactIndex < patch->nbContacts);
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if(pointStepped)
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{
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contact = reinterpret_cast<const PxContact*>(reinterpret_cast<const PxU8*>(contact) + contactPointSize);
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faceIndice++;
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}
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nextContactIndex++;
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pointStepped = true;
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}
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/**
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\brief Gets the current contact's normal
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\return The current contact's normal.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& getContactNormal() const
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{
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return getContactPatch().normal;
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}
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/**
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\brief Gets the inverse mass scale for body 0.
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||
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\return The inverse mass scale for body 0.
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||
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getInvMassScale0() const
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||
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{
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return patch->mMassModification.mInvMassScale0;
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||
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}
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||
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/**
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||
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\brief Gets the inverse mass scale for body 1.
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||
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\return The inverse mass scale for body 1.
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||
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*/
|
||
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getInvMassScale1() const
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||
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{
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||
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return patch->mMassModification.mInvMassScale1;
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||
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}
|
||
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|
|
||
|
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/**
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||
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\brief Gets the inverse inertia scale for body 0.
|
||
|
|
\return The inverse inertia scale for body 0.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getInvInertiaScale0() const
|
||
|
|
{
|
||
|
|
return patch->mMassModification.mInvInertiaScale0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the inverse inertia scale for body 1.
|
||
|
|
\return The inverse inertia scale for body 1.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getInvInertiaScale1() const
|
||
|
|
{
|
||
|
|
return patch->mMassModification.mInvInertiaScale1;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's max impulse.
|
||
|
|
\return The contact's max impulse.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getMaxImpulse() const
|
||
|
|
{
|
||
|
|
return mStreamFormat != eSIMPLE_STREAM ? getExtendedContact().maxImpulse : PX_MAX_REAL;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's target velocity.
|
||
|
|
\return The contact's target velocity.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& getTargetVel() const
|
||
|
|
{
|
||
|
|
return mStreamFormat != eSIMPLE_STREAM ? getExtendedContact().targetVelocity : zero;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's contact point.
|
||
|
|
\return The contact's contact point.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& getContactPoint() const
|
||
|
|
{
|
||
|
|
return contact->contact;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's separation.
|
||
|
|
\return The contact's separation.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getSeparation() const
|
||
|
|
{
|
||
|
|
return contact->separation;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's face index for shape 0.
|
||
|
|
\return The contact's face index for shape 0.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getFaceIndex0() const
|
||
|
|
{
|
||
|
|
return PXC_CONTACT_NO_FACE_INDEX;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's face index for shape 1.
|
||
|
|
\return The contact's face index for shape 1.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getFaceIndex1() const
|
||
|
|
{
|
||
|
|
return hasFaceIndices ? *faceIndice : PXC_CONTACT_NO_FACE_INDEX;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's static friction coefficient.
|
||
|
|
\return The contact's static friction coefficient.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getStaticFriction() const
|
||
|
|
{
|
||
|
|
return getContactPatch().staticFriction;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's static dynamic coefficient.
|
||
|
|
\return The contact's static dynamic coefficient.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getDynamicFriction() const
|
||
|
|
{
|
||
|
|
return getContactPatch().dynamicFriction;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's restitution coefficient.
|
||
|
|
\return The contact's restitution coefficient.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal getRestitution() const
|
||
|
|
{
|
||
|
|
return getContactPatch().restitution;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's material flags.
|
||
|
|
\return The contact's material flags.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getMaterialFlags() const
|
||
|
|
{
|
||
|
|
return getContactPatch().materialFlags;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's material index for shape 0.
|
||
|
|
\return The contact's material index for shape 0.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16 getMaterialIndex0() const
|
||
|
|
{
|
||
|
|
return PxU16(getContactPatch().materialIndex0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets the contact's material index for shape 1.
|
||
|
|
\return The contact's material index for shape 1.
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16 getMaterialIndex1() const
|
||
|
|
{
|
||
|
|
return PxU16(getContactPatch().materialIndex1);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Advances the contact stream iterator to a specific contact index.
|
||
|
|
*/
|
||
|
|
bool advanceToIndex(const PxU32 initialIndex)
|
||
|
|
{
|
||
|
|
PX_ASSERT(this->nextPatchIndex == 0 && this->nextContactIndex == 0);
|
||
|
|
|
||
|
|
PxU32 numToAdvance = initialIndex;
|
||
|
|
|
||
|
|
if(numToAdvance == 0)
|
||
|
|
{
|
||
|
|
PX_ASSERT(hasNextPatch());
|
||
|
|
nextPatch();
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
while(numToAdvance)
|
||
|
|
{
|
||
|
|
while(hasNextPatch())
|
||
|
|
{
|
||
|
|
nextPatch();
|
||
|
|
PxU32 patchSize = patch->nbContacts;
|
||
|
|
if(numToAdvance <= patchSize)
|
||
|
|
{
|
||
|
|
contact = reinterpret_cast<const PxContact*>(reinterpret_cast<const PxU8*>(contact) + contactPointSize * numToAdvance);
|
||
|
|
nextContactIndex += numToAdvance;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
numToAdvance -= patchSize;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Internal helper
|
||
|
|
*/
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxContactPatch& getContactPatch() const
|
||
|
|
{
|
||
|
|
return *static_cast<const PxContactPatch*>(patch);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxExtendedContact& getExtendedContact() const
|
||
|
|
{
|
||
|
|
PX_ASSERT(mStreamFormat == eMODIFIABLE_STREAM || mStreamFormat == eCOMPRESSED_MODIFIABLE_STREAM);
|
||
|
|
return *static_cast<const PxExtendedContact*>(contact);
|
||
|
|
}
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#if PX_VC
|
||
|
|
#pragma warning(pop)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|