96 lines
4.1 KiB
C
96 lines
4.1 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_CONTACT_MANAGER_STATE_H
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#define PXS_CONTACT_MANAGER_STATE_H
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#include "foundation/PxSimpleTypes.h"
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namespace physx
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{
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struct PxsShapeCore;
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/**
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There is an implicit 1:1 mapping between PxgContactManagerInput and PxsContactManagerOutput. The structures are split because PxgNpContactManagerInput contains constant
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data that is produced by the CPU code and PxgNpContactManagerOutput contains per-frame contact information produced by the NP.
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There is also a 1:1 mapping between the PxgNpContactManager and PxsContactManager. This mapping is handled within the PxgNPhaseCore.
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The previous contact states are implicitly cached in PxsContactManager and will be propagated to the solver. Friction correlation is also done implicitly using cached
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information in PxsContactManager.
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The NP will produce a list of pairs that found/lost patches for the solver along with updating the PxgNpContactManagerOutput for all pairs.
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*/
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struct PxsContactManagerStatusFlag
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{
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enum Enum
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{
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eHAS_NO_TOUCH = (1 << 0),
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eHAS_TOUCH = (1 << 1),
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//eHAS_SOLVER_CONSTRAINTS = (1 << 2),
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eREQUEST_CONSTRAINTS = (1 << 3),
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eHAS_CCD_RETOUCH = (1 << 4), // Marks pairs that are touching at a CCD pass and were touching at discrete collision or at a previous CCD pass already
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// but we can not tell whether they lost contact in a pass before. We send them as pure eNOTIFY_TOUCH_CCD events to the
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// contact report callback if requested.
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eDIRTY_MANAGER = (1 << 5),
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eTOUCH_KNOWN = eHAS_NO_TOUCH | eHAS_TOUCH // The touch status is known (if narrowphase never ran for a pair then no flag will be set)
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};
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};
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struct PX_ALIGN_PREFIX(16) PxsContactManagerOutput
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{
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PxU8* contactPatches; //Start index/ptr for contact patches
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PxU8* contactPoints; //Start index/ptr for contact points
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PxReal* contactForces; //Start index/ptr for contact forces
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PxU8 nbContacts; //Num contacts
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PxU8 nbPatches; //Num patches
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PxU8 statusFlag; //Status flag (has touch etc.)
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PxU8 prevPatches; //Previous number of patches
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PX_FORCE_INLINE PxU32* getInternalFaceIndice()
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{
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return reinterpret_cast<PxU32*>(contactForces + nbContacts);
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}
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}
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PX_ALIGN_SUFFIX(16);
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struct /*PX_ALIGN_PREFIX(16)*/ PxsContactManagerPersistency
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{
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PxU8 mPrevPatches;
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PxU8 mNbFrictionPatches;
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PxU8 mNbPrevFrictionPatches;
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}
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/*PX_ALIGN_SUFFIX(16)*/;
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}
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#endif //PXG_CONTACT_MANAGER_H
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