Space-Project/dependencies/physx-4.1/include/geomutils/GuContactBuffer.h

//
// 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 GU_CONTACTBUFFER_H
#define GU_CONTACTBUFFER_H

#include "geomutils/GuContactPoint.h"
#include "PxPhysXConfig.h"
#include "PxContact.h"

namespace physx
{
namespace Gu
{

	struct NarrowPhaseParams
	{
		PX_FORCE_INLINE	NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
				mContactDistance(contactDistance),
				mMeshContactMargin(meshContactMargin),
				mToleranceLength(toleranceLength)	{}

		PxReal	mContactDistance;
		PxReal	mMeshContactMargin;	// PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
		PxReal	mToleranceLength;	// PT: copy of PxTolerancesScale::length
	};

//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
#define LOCAL_CONTACTS_SIZE		1088

class ContactBuffer
{
public:

	static const PxU32 MAX_CONTACTS = 64;

	Gu::ContactPoint	contacts[MAX_CONTACTS];
	PxU32				count;
	PxU32				pad;

	PX_FORCE_INLINE void reset()
	{
		count = 0;
	}

	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint, 
				 const PxVec3& worldNormalIn, 
				 PxReal separation, 
				 PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
				 )
	{
		PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);

		if(count>=MAX_CONTACTS)
			return false;

		Gu::ContactPoint& p	= contacts[count++];
		p.normal			= worldNormalIn;
		p.point				= worldPoint;
		p.separation		= separation;
		p.internalFaceIndex1= faceIndex1;
		return true;
	}

	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
		const PxVec3& worldNormalIn,
		PxReal separation,
		PxU16 internalUsage,
		PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
		)
	{
		PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);

		if (count >= MAX_CONTACTS)
			return false;

		Gu::ContactPoint& p = contacts[count++];
		p.normal = worldNormalIn;
		p.point = worldPoint;
		p.separation = separation;
		p.internalFaceIndex1 = faceIndex1;
		p.forInternalUse = internalUsage;
		return true;
	}

	PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
	{
		if(count>=MAX_CONTACTS)
			return false;
		contacts[count++] = pt;
		return true;
	}

	PX_FORCE_INLINE Gu::ContactPoint* contact()
	{
		if(count>=MAX_CONTACTS)
			return NULL;
		return &contacts[count++];
	}
};

}
}

#endif