364 lines
11 KiB
C
364 lines
11 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 PXS_ISLAND_MANAGER_TYPES_H
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#define PXS_ISLAND_MANAGER_TYPES_H
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#include "CmPhysXCommon.h"
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namespace physx
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{
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class PxsContactManager;
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class PxsRigidBody;
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namespace Dy
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{
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struct Constraint;
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class Articulation;
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}
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typedef PxU32 NodeType;
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typedef PxU32 EdgeType;
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typedef PxU32 IslandType;
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#define INVALID_NODE 0xffffffff
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#define INVALID_EDGE 0xffffffff
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#define INVALID_ISLAND 0xffffffff
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namespace Dy
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{
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typedef size_t ArticulationLinkHandle;
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}
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//----------------------------------------------------------------------------//
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template <class T, T INVLD> class PxsIslandManagerHook
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{
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friend class PxsIslandManager;
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T index;
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public:
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static const T INVALID = INVLD;
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PX_FORCE_INLINE PxsIslandManagerHook(): index(INVLD) {}
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PX_FORCE_INLINE PxsIslandManagerHook(const T id): index(id) {}
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PX_FORCE_INLINE PxsIslandManagerHook(const PxsIslandManagerHook<T,INVLD>& src) : index(src.index) {}
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PX_FORCE_INLINE ~PxsIslandManagerHook(){}
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PX_FORCE_INLINE bool isManaged() const { return index!=INVLD; }
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private:
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};
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typedef PxsIslandManagerHook<NodeType,INVALID_NODE> PxsIslandManagerNodeHook;
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typedef PxsIslandManagerHook<EdgeType,INVALID_EDGE> PxsIslandManagerEdgeHook;
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typedef PxsIslandManagerHook<IslandType,INVALID_ISLAND> PxsIslandManagerIslandHook;
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//----------------------------------------------------------------------------//
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/**
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\brief PxsIslandObjects contains arrays of all rigid bodies, articulations, contact managers, and constraints that
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belong to all awake islands. The per array indices denoting the ownership per island are stored in PxsIslandIndices.
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@see PxsIslandManager::getIslandObjects
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*/
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struct PxsIslandObjects
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{
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/**
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\brief Array of all rigid bodies in all awake islands.
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\note Each rigid body corresponds to the void* passed to PxsIslandManager::addBody. The PxsRigidBody ptr is computed
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by adding the rigid body offset value (passed to PxsIslandManager::create) to the void* pointer
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ie [(PxsRigidBody*)((PxU8*)owner + rigidBodyOffset)]
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@see PxsIslandManager::addBody, PxsIslandManager::create
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*/
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PxsRigidBody*const* bodies;
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/**
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\brief Array of all articulation roots in all awake islands.
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\note Each Articulation* corresponds to Dy::getArticulation(articLinkHandle) where
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articLinkHandle is the handle passed to PxsIslandManager::setArticulationRootLinkHandle.
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@see PxsIslandManager::setArticulationRootLinkHandle, Dy::getArticulation
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*/
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Dy::Articulation*const* articulations;
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/**
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\brief Array of all articulation roots in all awake islands.
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\note Each void* corresponds to the void* passed to PxsIslandManager::setArticulationRootLinkHandle
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@see PxsIslandManager::setArticulationRootLinkHandle
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*/
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void*const* articulationOwners;
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/**
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\brief Array of all contact managers in all awake islands.
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@see PxsIslandManager::setEdgeRigidCM
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*/
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struct PxsIndexedContactManager* contactManagers;
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/**
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\brief Array of all constraints in all awake islands.
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@see PxsIslandManager::setEdgeConstraint
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*/
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struct PxsIndexedConstraint* constraints;
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PxsIslandObjects() : bodies(NULL), articulations(NULL), articulationOwners(NULL), contactManagers(NULL), constraints(NULL)
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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 An array of PxsIslandIndices describes the rigid bodies, articulations, contacts and constraints that
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belong to each island.
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\note Given an array of PxsIslandIndices, the rigid bodies of the ith island span the inclusive range:
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(PxsIslandObjects::bodies[PxsIslandIndices[i]], PxsIslandObjects::bodies[PxsIslandIndices[i+1]-1])
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\note Given an array of PxsIslandIndices, the constraints of the ith island span the inclusive range:
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(PxsIslandObjects::constraints[PxsIslandIndices[i]], PxsIslandObjects::constraints[PxsIslandIndices[i+1]-1])
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@see PxsIslandObjects::getIslandIndices, PxsIslandObjects::getIslandCount
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*/
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class PxsIslandIndices
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{
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public:
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PxsIslandIndices(){}
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~PxsIslandIndices(){}
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/**
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\brief Return true if the corresponding island has a contact with a static rigid body.
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*/
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PX_FORCE_INLINE bool getHasStaticContact() const
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{
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return (1 & hasStaticContact) ? true : false;
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}
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/**
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\brief The starting index of island rigid bodies in the array PxsIslandObjects::bodies
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*/
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NodeType bodies;
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/**
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\brief The starting index of island articulations in the arrays PxsIslandObjects::articulations and PxsIslandObjects::articulationOwners
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\note The total number of articulations is clamped at 32767 on any platform that uses 16-bit handles.
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*/
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NodeType articulations : 8*sizeof(NodeType)-1;
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private:
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NodeType hasStaticContact : 1;
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public:
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/**
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\brief The starting index of island contact managers in the array PxsIslandObjects::contactManagers.
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*/
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EdgeType contactManagers;
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/**
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\brief The starting index of island constraints in the array PxsIslandObjects::constraints.
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\note islandId is for internal use only and is used for tracking islands that need a second pass.
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*/
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union
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{
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EdgeType constraints;
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IslandType islandId;
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};
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//private:
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/**
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\brief Internal use only.
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*/
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PX_FORCE_INLINE void setHasStaticContact(const bool b)
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{
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hasStaticContact = NodeType(b ? 1 : 0);
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}
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};
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PX_COMPILE_TIME_ASSERT(0==(0x07 & sizeof(PxsIslandIndices)));
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//----------------------------------------------------------------------------//
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typedef Dy::ArticulationLinkHandle PxsNodeType;
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/**
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\brief Each contact manager or constraint references two separate bodies, where
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a body can be a dynamic rigid body, a kinematic rigid body, an articulation or a static.
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The struct PxsIndexedInteraction describes the bodies that make up the pair.
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*/
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struct PxsIndexedInteraction
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{
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/**
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\brief An enumerated list of all possible body types.
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A body type is stored for each body in the pair.
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*/
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enum Enum
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{
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eBODY = 0,
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eKINEMATIC = 1,
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eARTICULATION = 2,
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eWORLD = 3
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};
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/**
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\brief An index describing how to access body0
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\note If body0 is a dynamic (eBODY) rigid body then solverBody0 is an index into PxsIslandObjects::bodies.
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\note If body0 is a kinematic (eKINEMATIC) rigid body then solverBody0 is an index into PxsIslandManager::getActiveKinematics.
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\note If body0 is a static (eWORLD) then solverBody0 is PX_MAX_U32 or PX_MAX_U64, depending on the platform being 32- or 64-bit.
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\note If body0 is an articulation then the articulation is found directly from Dy::getArticulation(articulation0)
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*/
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union
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{
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PxsNodeType solverBody0;
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Dy::ArticulationLinkHandle articulation0;
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};
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/**
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\brief An index describing how to access body1
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\note If body1 is a dynamic (eBODY) rigid body then solverBody1 is an index into PxsIslandObjects::bodies.
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\note If body1 is a kinematic (eKINEMATIC) rigid body then solverBody1 is an index into PxsIslandManager::getActiveKinematics.
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\note If body1 is a static (eWORLD) then solverBody1 is PX_MAX_U32 or PX_MAX_U64, depending on the platform being 32- or 64-bit.
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\note If body1 is an articulation then the articulation is found directly from Dy::getArticulation(articulation1)
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*/
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union
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{
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PxsNodeType solverBody1;
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Dy::ArticulationLinkHandle articulation1;
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};
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/**
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\brief The type (eBODY, eKINEMATIC etc) of body0
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*/
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PxU8 indexType0;
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/**
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\brief The type (eBODY, eKINEMATIC etc) of body1
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*/
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PxU8 indexType1;
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PxU8 pad[2];
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};
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/**
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@see PxsIslandObjects, PxsIndexedInteraction
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*/
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struct PxsIndexedContactManager : public PxsIndexedInteraction
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{
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/**
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\brief The contact manager corresponds to the value set in PxsIslandManager::setEdgeRigidCM
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*/
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PxsContactManager* contactManager;
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PxsIndexedContactManager(PxsContactManager* cm) : contactManager(cm) {}
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};
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#if !PX_X64
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxsIndexedContactManager) & 0x0f));
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#endif
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/**
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@see PxsIslandObjects, PxsIndexedInteraction
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*/
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struct PxsIndexedConstraint : public PxsIndexedInteraction
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{
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/**
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\brief The constraint corresponds to the value set in PxsIslandManager::setEdgeConstraint
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*/
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Dy::Constraint* constraint;
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PxsIndexedConstraint(Dy::Constraint* c) : constraint(c) {}
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};
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#if !PX_P64_FAMILY
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxsIndexedConstraint) & 0x0f));
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#endif
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//----------------------------------------------------------------------------//
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/**
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\brief Any sleeping contact pair that finds itself in an awake island after 1st pass island gen
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must participate in 2nd pass narrowphase so that contacts can be generated.
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\note Contact managers in sleeping pairs are NULL until PxsIslandManager::setWokenPairContactManagers is complete.
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@see PxsIslandManager::getNarrowPhaseSecondPassContactManagers, PxsIslandManager::getNumNarrowPhaseSecondPassContactManagers,
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PxsIslandManager::setWokenPairContactManagers
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*/
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struct PxsNarrowPhaseSecondPassContactManager
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{
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/**
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\brief The contact manager that is to participate in 2nd pass narrowphase.
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\note This pointer is NULL after 1st pass island gen and remains NULL until PxsIslandManager::setWokenPairContactManagers
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completes.
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*/
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PxsContactManager* mCM;
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/**
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\brief The corresponding entry in PxsIslandObjects::contactManagers.
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\note All sleeping pairs have a null contact manager during 1st pass island gen. After 1st pass island gen completes,
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the bodies to be woken are externally processed. Waking up bodies generates contact managers and passes the pointer to the
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corresponding edge. So that the contact manager can be efficiently passed to PxsIslandObjects we store mEdgeId and mSolverCMId.
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The contact manager pointers are set in PxsIslandManager::setWokenPairContactManagers
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*/
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EdgeType mSolverCMId; //Keeps a track of which entries in the solver islands temporarily have a null contact manager
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/**
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\brief The internal id of the corresponding edge.
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*/
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EdgeType mEdgeId;
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};
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} //namespace physx
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#endif //PXS_ISLAND_MANAGER_TYPES_H
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