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