132 lines
3.9 KiB
C++
132 lines
3.9 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 GU_CONTACTBUFFER_H
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#define GU_CONTACTBUFFER_H
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#include "geomutils/GuContactPoint.h"
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#include "PxPhysXConfig.h"
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#include "PxContact.h"
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namespace physx
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{
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namespace Gu
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{
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struct NarrowPhaseParams
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{
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PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
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mContactDistance(contactDistance),
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mMeshContactMargin(meshContactMargin),
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mToleranceLength(toleranceLength) {}
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PxReal mContactDistance;
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PxReal mMeshContactMargin; // PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
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PxReal mToleranceLength; // PT: copy of PxTolerancesScale::length
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};
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//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
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#define LOCAL_CONTACTS_SIZE 1088
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class ContactBuffer
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{
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public:
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static const PxU32 MAX_CONTACTS = 64;
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Gu::ContactPoint contacts[MAX_CONTACTS];
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PxU32 count;
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PxU32 pad;
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PX_FORCE_INLINE void reset()
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{
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count = 0;
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}
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PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
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const PxVec3& worldNormalIn,
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PxReal separation,
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PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
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)
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{
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PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);
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if(count>=MAX_CONTACTS)
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return false;
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Gu::ContactPoint& p = contacts[count++];
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p.normal = worldNormalIn;
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p.point = worldPoint;
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p.separation = separation;
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p.internalFaceIndex1= faceIndex1;
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return true;
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}
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PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
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const PxVec3& worldNormalIn,
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PxReal separation,
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PxU16 internalUsage,
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PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
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)
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{
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PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);
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if (count >= MAX_CONTACTS)
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return false;
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Gu::ContactPoint& p = contacts[count++];
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p.normal = worldNormalIn;
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p.point = worldPoint;
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p.separation = separation;
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p.internalFaceIndex1 = faceIndex1;
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p.forInternalUse = internalUsage;
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return true;
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}
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PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
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{
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if(count>=MAX_CONTACTS)
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return false;
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contacts[count++] = pt;
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return true;
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}
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PX_FORCE_INLINE Gu::ContactPoint* contact()
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{
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if(count>=MAX_CONTACTS)
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return NULL;
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return &contacts[count++];
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}
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};
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}
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}
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#endif
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