105 lines
3.2 KiB
C
105 lines
3.2 KiB
C
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
// * Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the distribution.
|
||
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
|
// contributors may be used to endorse or promote products derived
|
||
|
|
// from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
|
||
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
|
||
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef PX_PHYSICS_SCP_ITERATOR
|
||
|
|
#define PX_PHYSICS_SCP_ITERATOR
|
||
|
|
|
||
|
|
#include "foundation/PxVec3.h"
|
||
|
|
#include "PxContact.h"
|
||
|
|
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
class PxShape;
|
||
|
|
class PxsContactManagerOutputIterator;
|
||
|
|
|
||
|
|
namespace Sc
|
||
|
|
{
|
||
|
|
class ShapeSim;
|
||
|
|
class Interaction;
|
||
|
|
|
||
|
|
struct Contact
|
||
|
|
{
|
||
|
|
Contact()
|
||
|
|
: normal(0.0f)
|
||
|
|
, point(0.0f)
|
||
|
|
, separation(0.0f)
|
||
|
|
, normalForce(0.0f)
|
||
|
|
{}
|
||
|
|
|
||
|
|
PxVec3 normal;
|
||
|
|
PxVec3 point;
|
||
|
|
PxShape* shape0;
|
||
|
|
PxShape* shape1;
|
||
|
|
PxReal separation;
|
||
|
|
PxReal normalForce;
|
||
|
|
PxU32 faceIndex0; // these are the external indices
|
||
|
|
PxU32 faceIndex1;
|
||
|
|
bool normalForceAvailable;
|
||
|
|
};
|
||
|
|
|
||
|
|
class ContactIterator
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
class Pair
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
|
||
|
|
Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSim& shape0, ShapeSim& shape1);
|
||
|
|
Contact* getNextContact();
|
||
|
|
|
||
|
|
private:
|
||
|
|
PxU32 mIndex;
|
||
|
|
PxU32 mNumContacts;
|
||
|
|
PxContactStreamIterator mIter;
|
||
|
|
const PxReal* mForces;
|
||
|
|
Contact mCurrentContact;
|
||
|
|
};
|
||
|
|
|
||
|
|
ContactIterator() {}
|
||
|
|
explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
|
||
|
|
Pair* getNextPair();
|
||
|
|
|
||
|
|
private:
|
||
|
|
Interaction** mCurrent;
|
||
|
|
Interaction** mLast;
|
||
|
|
Pair mCurrentPair;
|
||
|
|
PxU32 mOffset;
|
||
|
|
PxsContactManagerOutputIterator* mOutputs;
|
||
|
|
|
||
|
|
private:
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace Sc
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|