179 lines
6.6 KiB
C++
179 lines
6.6 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 PXS_CONTACTMANAGER_H
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#define PXS_CONTACTMANAGER_H
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#include "PxvConfig.h"
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#include "PxcNpWorkUnit.h"
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namespace physx
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{
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class PxsContext;
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class PxsRigidBody;
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struct PxsCCDBody;
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class PxsMaterialManager;
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struct PxsCCDShape;
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namespace Dy
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{
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class DynamicsContext;
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}
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namespace Sc
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{
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class ShapeInteraction;
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}
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enum PxsPairVisColor
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{
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eVIS_COLOR_SWEPTINTEGRATE_OFF = 0x000000,
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eVIS_COLOR_SWEPTINTEGRATE_SLOW = 0x404040,
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eVIS_COLOR_SWEPTINTEGRATE_CLEAR = 0x007f00,
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eVIS_COLOR_SWEPTINTEGRATE_IMPACT = 0x1680ff,
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eVIS_COLOR_SWEPTINTEGRATE_FAIL = 0x0000ff
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};
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/**
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\brief Additional header structure for CCD contact data stream.
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*/
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struct PxsCCDContactHeader
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{
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/**
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\brief Stream for next collision. The same pair can collide multiple times during multiple CCD passes.
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*/
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PxsCCDContactHeader* nextStream; //4 //8
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/**
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\brief Size (in bytes) of the CCD contact stream (not including force buffer)
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*/
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PxU16 contactStreamSize; //6 //10
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/**
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\brief Defines whether the stream is from a previous pass.
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It could happen that the stream can not get allocated because we run out of memory. In that case the current event should not use the stream
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from an event of the previous pass.
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*/
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PxU16 isFromPreviousPass; //8 //12
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PxU8 pad[12 - sizeof(PxsCCDContactHeader*)]; //16
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};
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PX_COMPILE_TIME_ASSERT((sizeof(PxsCCDContactHeader) & 0xF) == 0);
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class PxsContactManager
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{
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public:
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PxsContactManager(PxsContext* context, PxU32 index);
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~PxsContactManager();
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PX_FORCE_INLINE void setDisableStrongFriction(PxU32 d) { (!d) ? mNpUnit.flags &= ~PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION
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: mNpUnit.flags |= PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION; }
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PX_FORCE_INLINE PxReal getRestDistance() const { return mNpUnit.restDistance; }
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PX_FORCE_INLINE void setRestDistance(PxReal v) { mNpUnit.restDistance = v; }
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void destroy();
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PX_FORCE_INLINE PxU8 getDominance0() const { return mNpUnit.dominance0; }
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PX_FORCE_INLINE void setDominance0(PxU8 v) { mNpUnit.dominance0 = v; }
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PX_FORCE_INLINE PxU8 getDominance1() const { return mNpUnit.dominance1; }
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PX_FORCE_INLINE void setDominance1(PxU8 v) { mNpUnit.dominance1 = v; }
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PX_FORCE_INLINE PxU16 getTouchStatus() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eHAS_TOUCH); }
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PX_FORCE_INLINE PxU16 touchStatusKnown() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eTOUCH_KNOWN); }
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PX_FORCE_INLINE PxI32 getTouchIdx() const { return (mNpUnit.statusFlags& PxcNpWorkUnitStatusFlag::eHAS_TOUCH) ? 1 : (mNpUnit.statusFlags& PxcNpWorkUnitStatusFlag::eHAS_NO_TOUCH ? -1 : 0); }
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PX_FORCE_INLINE PxU32 getIndex() const { return mNpUnit.index; }
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PX_FORCE_INLINE PxU16 getHasCCDRetouch() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH); }
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PX_FORCE_INLINE void clearCCDRetouch() { mNpUnit.statusFlags &= ~PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; }
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PX_FORCE_INLINE void raiseCCDRetouch() { mNpUnit.statusFlags |= PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; }
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// flags stuff - needs to be refactored
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PX_FORCE_INLINE Ps::IntBool isChangeable() const { return Ps::IntBool(mFlags & PXS_CM_CHANGEABLE); }
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PX_FORCE_INLINE Ps::IntBool getCCD() const { return Ps::IntBool((mFlags & PXS_CM_CCD_LINEAR) && (mNpUnit.flags & PxcNpWorkUnitFlag::eDETECT_CCD_CONTACTS)); }
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PX_FORCE_INLINE Ps::IntBool getHadCCDContact() const { return Ps::IntBool(mFlags & PXS_CM_CCD_CONTACT); }
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PX_FORCE_INLINE void setHadCCDContact() { mFlags |= PXS_CM_CCD_CONTACT; }
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void setCCD(bool enable);
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PX_FORCE_INLINE void clearCCDContactInfo() { mFlags &= ~PXS_CM_CCD_CONTACT; mNpUnit.ccdContacts = NULL; }
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PX_FORCE_INLINE PxcNpWorkUnit& getWorkUnit() { return mNpUnit; }
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PX_FORCE_INLINE const PxcNpWorkUnit& getWorkUnit() const { return mNpUnit; }
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PX_FORCE_INLINE void* getUserData() const { return mShapeInteraction; }
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// Setup solver-constraints
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void resetCachedState();
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void resetFrictionCachedState();
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Sc::ShapeInteraction* getShapeInteraction() const { return mShapeInteraction; }
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private:
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//KS - moving this up - we want to get at flags
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PxsRigidBody* mRigidBody0; //4 //8
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PxsRigidBody* mRigidBody1; //8 //16
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PxU32 mFlags; //20 //36
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Sc::ShapeInteraction* mShapeInteraction; //16 //32
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friend class PxsContext;
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// everything required for narrow phase to run
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PxcNpWorkUnit mNpUnit;
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enum
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{
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PXS_CM_CHANGEABLE = (1<<0),
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PXS_CM_CCD_LINEAR = (1<<1),
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PXS_CM_CCD_CONTACT = (1 << 2)
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};
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friend class Dy::DynamicsContext;
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friend struct PxsCCDPair;
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friend class PxsIslandManager;
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friend class PxsCCDContext;
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friend class Sc::ShapeInteraction;
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};
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}
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#endif
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