Space-Project/dependencies/physx-4.1/source/simulationcontroller/include/ScIterators.h
2021-01-16 17:11:39 +01:00

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//
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// 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 PX_PHYSICS_SCP_ITERATOR
#define PX_PHYSICS_SCP_ITERATOR
#include "foundation/PxVec3.h"
#include "PxContact.h"
namespace physx
{
class PxShape;
class PxsContactManagerOutputIterator;
namespace Sc
{
class ShapeSim;
class Interaction;
struct Contact
{
Contact()
: normal(0.0f)
, point(0.0f)
, separation(0.0f)
, normalForce(0.0f)
{}
PxVec3 normal;
PxVec3 point;
PxShape* shape0;
PxShape* shape1;
PxReal separation;
PxReal normalForce;
PxU32 faceIndex0; // these are the external indices
PxU32 faceIndex1;
bool normalForceAvailable;
};
class ContactIterator
{
public:
class Pair
{
public:
Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSim& shape0, ShapeSim& shape1);
Contact* getNextContact();
private:
PxU32 mIndex;
PxU32 mNumContacts;
PxContactStreamIterator mIter;
const PxReal* mForces;
Contact mCurrentContact;
};
ContactIterator() {}
explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
Pair* getNextPair();
private:
Interaction** mCurrent;
Interaction** mLast;
Pair mCurrentPair;
PxU32 mOffset;
PxsContactManagerOutputIterator* mOutputs;
private:
};
} // namespace Sc
}
#endif