152 lines
5.9 KiB
C++
152 lines
5.9 KiB
C++
//
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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_PHYSICS_SCP_SHAPESIM
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#define PX_PHYSICS_SCP_SHAPESIM
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#include "ScElementSim.h"
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#include "ScShapeCore.h"
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#include "CmPtrTable.h"
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#include "ScRigidSim.h"
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#include "PxsShapeSim.h"
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namespace physx
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{
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class PxsTransformCache;
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namespace Gu
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{
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class TriangleMesh;
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class HeightField;
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}
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/** Simulation object corresponding to a shape core object. This object is created when
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a ShapeCore object is added to the simulation, and destroyed when it is removed
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*/
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struct PxsRigidCore;
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namespace Sc
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{
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class RigidSim;
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class ShapeCore;
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class Scene;
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class BodySim;
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class StaticSim;
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class ShapeSim : public ElementSim
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{
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ShapeSim &operator=(const ShapeSim &);
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public:
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// passing in a pointer for the shape to output its bounds allows us not to have to compute them twice.
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// A neater way to do this would be to ask the AABB Manager for the bounds after the shape has been
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// constructed, but there is currently no spec for what the AABBMgr is allowed to do with the bounds,
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// hence better not to assume anything.
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ShapeSim(RigidSim&, const ShapeCore& core);
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~ShapeSim();
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void reinsertBroadPhase();
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PX_FORCE_INLINE const ShapeCore& getCore() const { return mCore; }
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// TODO: compile time coupling
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PX_INLINE PxGeometryType::Enum getGeometryType() const { return mCore.getGeometryType(); }
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// This is just for getting a reference for the user, so we cast away const-ness
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PX_INLINE PxShape* getPxShape() const { return const_cast<PxShape*>(mCore.getPxShape()); }
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PX_FORCE_INLINE PxReal getRestOffset() const { return mCore.getRestOffset(); }
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PX_FORCE_INLINE PxReal getTorsionalPatchRadius() const { return mCore.getTorsionalPatchRadius(); }
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PX_FORCE_INLINE PxReal getMinTorsionalPatchRadius() const { return mCore.getMinTorsionalPatchRadius(); }
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PX_FORCE_INLINE PxU32 getFlags() const { return mCore.getFlags(); }
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PX_FORCE_INLINE PxReal getContactOffset() const { return mCore.getContactOffset(); }
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PX_FORCE_INLINE RigidSim& getRbSim() const { return static_cast<RigidSim&>(getActor()); }
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BodySim* getBodySim() const;
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PxsRigidCore& getPxsRigidCore() const;
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void onFilterDataChange();
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void onRestOffsetChange();
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void onFlagChange(PxShapeFlags oldFlags);
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void onResetFiltering();
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void onVolumeOrTransformChange(bool forceBoundsUpdate);
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void onMaterialChange(); // remove when material properties are gone from PxcNpWorkUnit
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void onContactOffsetChange();
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void markBoundsForUpdate(bool forceBoundsUpdate);
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void getAbsPoseAligned(PxTransform* PX_RESTRICT globalPose) const;
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PX_FORCE_INLINE PxU32 getID() const { return mId; }
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PX_FORCE_INLINE PxU32 getTransformCacheID() const { return getElementID(); }
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void removeFromBroadPhase(bool wakeOnLostTouch);
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void createSqBounds();
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void destroySqBounds();
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PX_FORCE_INLINE PxU32 getSqBoundsId() const { return mSqBoundsId; }
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PX_FORCE_INLINE void setSqBoundsId(PxU32 id) { mSqBoundsId = id; }
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void updateCached(PxU32 transformCacheFlags, Cm::BitMapPinned* shapeChangedMap);
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void updateCached(PxsTransformCache& transformCache, Bp::BoundsArray& boundsArray);
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void updateContactDistance(PxReal* contactDistance, const PxReal inflation, const PxVec3 angVel, const PxReal dt, Bp::BoundsArray& boundsArray);
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Ps::IntBool updateSweptBounds();
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void updateBPGroup();
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PX_FORCE_INLINE PxsShapeSim& getLLShapeSim() { return mLLShape; }
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private:
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PxsShapeSim mLLShape;
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const ShapeCore& mCore;
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PxU32 mId;
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PxU32 mSqBoundsId;
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PX_FORCE_INLINE void internalAddToBroadPhase();
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PX_FORCE_INLINE void internalRemoveFromBroadPhase(bool wakeOnLostTouch=true);
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void initSubsystemsDependingOnElementID();
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Bp::FilterGroup::Enum getBPGroup() const;
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};
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#if !PX_P64_FAMILY
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// PX_COMPILE_TIME_ASSERT(32==sizeof(Sc::ShapeSim)); // after removing bounds from shapes
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// PX_COMPILE_TIME_ASSERT((sizeof(Sc::ShapeSim) % 16) == 0); // aligned mem bounds are better for prefetching
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#endif
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} // namespace Sc
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}
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#endif
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