214 lines
4.8 KiB
C++
214 lines
4.8 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 PXV_MANAGER_H
|
|
#define PXV_MANAGER_H
|
|
|
|
#include "foundation/PxVec3.h"
|
|
#include "foundation/PxQuat.h"
|
|
#include "foundation/PxTransform.h"
|
|
#include "foundation/PxMemory.h"
|
|
#include "PxvConfig.h"
|
|
#include "PxvGeometry.h"
|
|
|
|
namespace physx
|
|
{
|
|
|
|
/*!
|
|
\file
|
|
Manager interface
|
|
*/
|
|
|
|
/************************************************************************/
|
|
/* Managers */
|
|
/************************************************************************/
|
|
|
|
class PxsContactManager;
|
|
|
|
struct PxsRigidCore;
|
|
struct PxsShapeCore;
|
|
class PxsRigidBody;
|
|
|
|
/*!
|
|
Type of PXD_MANAGER_CCD_MODE property
|
|
*/
|
|
enum PxvContactManagerCCDMode
|
|
{
|
|
PXD_MANAGER_CCD_NONE,
|
|
PXD_MANAGER_CCD_LINEAR
|
|
};
|
|
|
|
/*!
|
|
Manager descriptor
|
|
*/
|
|
struct PxvManagerDescRigidRigid
|
|
{
|
|
/*!
|
|
Manager user data
|
|
|
|
\sa PXD_MANAGER_USER_DATA
|
|
*/
|
|
//void* userData;
|
|
|
|
/*!
|
|
Dominance setting for one way interactions.
|
|
A dominance of 0 means the corresp. body will
|
|
not be pushable by the other body in the constraint.
|
|
\sa PXD_MANAGER_DOMINANCE0
|
|
*/
|
|
PxU8 dominance0;
|
|
|
|
/*!
|
|
Dominance setting for one way interactions.
|
|
A dominance of 0 means the corresp. body will
|
|
not be pushable by the other body in the constraint.
|
|
\sa PXD_MANAGER_DOMINANCE1
|
|
*/
|
|
PxU8 dominance1;
|
|
|
|
/*!
|
|
PxsRigidBodies
|
|
*/
|
|
PxsRigidBody* rigidBody0;
|
|
PxsRigidBody* rigidBody1;
|
|
|
|
/*!
|
|
Shape Core structures
|
|
*/
|
|
const PxsShapeCore* shapeCore0;
|
|
const PxsShapeCore* shapeCore1;
|
|
|
|
/*!
|
|
Body Core structures
|
|
*/
|
|
PxsRigidCore* rigidCore0;
|
|
PxsRigidCore* rigidCore1;
|
|
|
|
/*!
|
|
Enable contact information reporting.
|
|
*/
|
|
int reportContactInfo;
|
|
|
|
/*!
|
|
Enable contact impulse threshold reporting.
|
|
*/
|
|
int hasForceThreshold;
|
|
|
|
/*!
|
|
Enable generated contacts to be changeable
|
|
*/
|
|
int contactChangeable;
|
|
|
|
/*!
|
|
Disable strong friction
|
|
*/
|
|
//int disableStrongFriction;
|
|
|
|
/*!
|
|
Contact resolution rest distance.
|
|
*/
|
|
PxReal restDistance;
|
|
|
|
/*!
|
|
Disable contact response
|
|
*/
|
|
int disableResponse;
|
|
|
|
/*!
|
|
Disable discrete contact generation
|
|
*/
|
|
int disableDiscreteContact;
|
|
|
|
/*!
|
|
Disable CCD contact generation
|
|
*/
|
|
int disableCCDContact;
|
|
|
|
/*!
|
|
Is connected to an articulation (1 - first body, 2 - second body)
|
|
*/
|
|
int hasArticulations;
|
|
|
|
/*!
|
|
is connected to a dynamic (1 - first body, 2 - second body)
|
|
*/
|
|
int hasDynamics;
|
|
|
|
/*!
|
|
Is the pair touching? Use when re-creating the manager with prior knowledge about touch status.
|
|
|
|
positive: pair is touching
|
|
0: touch state unknown (this is a new pair)
|
|
negative: pair is not touching
|
|
|
|
Default is 0
|
|
*/
|
|
int hasTouch;
|
|
|
|
/*!
|
|
Identifies whether body 1 is kinematic. We can treat kinematics as statics and embed velocity into constraint
|
|
because kinematic bodies' velocities will not change
|
|
*/
|
|
bool body1Kinematic;
|
|
|
|
/*
|
|
Index entries into the transform cache for shape 0
|
|
*/
|
|
PxU32 transformCache0;
|
|
|
|
/*
|
|
Index entries into the transform cache for shape 1
|
|
*/
|
|
PxU32 transformCache1;
|
|
|
|
PxvManagerDescRigidRigid()
|
|
{
|
|
PxMemSet(this, 0, sizeof(PxvManagerDescRigidRigid));
|
|
|
|
dominance0 = 1u;
|
|
dominance1 = 1u;
|
|
}
|
|
};
|
|
|
|
|
|
/*!
|
|
Report struct for contact manager touch reports
|
|
*/
|
|
struct PxvContactManagerTouchEvent
|
|
{
|
|
PxsContactManager* manager; // Manager handle
|
|
void* userData; // Manager userdata
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|
|
|