109 lines
3.6 KiB
C
109 lines
3.6 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 DY_CORRELATIONBUFFER_H
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#define DY_CORRELATIONBUFFER_H
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxBounds3.h"
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#include "geomutils/GuContactBuffer.h"
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#include "PxvConfig.h"
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#include "DyFrictionPatch.h"
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namespace physx
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{
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struct PxcNpWorkUnit;
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struct PxsMaterialInfo;
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namespace Dy
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{
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struct CorrelationBuffer
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{
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static const PxU32 MAX_FRICTION_PATCHES = 32;
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static const PxU16 LIST_END = 0xffff;
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struct ContactPatchData
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{
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PxU16 start;
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PxU16 next;
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PxU8 flags;
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PxU8 count;
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PxReal staticFriction, dynamicFriction, restitution;
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PxBounds3 patchBounds;
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};
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// we can have as many contact patches as contacts, unfortunately
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ContactPatchData contactPatches[Gu::ContactBuffer::MAX_CONTACTS];
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FrictionPatch PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);
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PxVec3 PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
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PxBounds3 patchBounds[MAX_FRICTION_PATCHES];
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PxU32 frictionPatchContactCounts[MAX_FRICTION_PATCHES];
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PxU32 correlationListHeads[MAX_FRICTION_PATCHES+1];
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// contact IDs are only used to identify auxiliary contact data when velocity
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// targets have been set.
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PxU16 contactID[MAX_FRICTION_PATCHES][2];
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PxU32 contactPatchCount, frictionPatchCount;
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};
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bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU32 contactCount, PxReal normalTolerance);
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bool correlatePatches(CorrelationBuffer& fb,
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const Gu::ContactPoint* cb,
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const PxTransform& bodyFrame0,
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const PxTransform& bodyFrame1,
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PxReal normalTolerance,
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PxU32 startContactPatchIndex,
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PxU32 startFrictionPatchIndex);
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void growPatches(CorrelationBuffer& fb,
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const Gu::ContactPoint* buffer,
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const PxTransform& bodyFrame0,
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const PxTransform& bodyFrame1,
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PxReal normalTolerance,
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PxU32 frictionPatchStartIndex,
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PxReal frictionOffsetThreshold);
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}
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}
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#endif //DY_CORRELATIONBUFFER_H
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