156 lines
5.2 KiB
C++
156 lines
5.2 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 PXC_NPWORKUNIT_H
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#define PXC_NPWORKUNIT_H
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#include "PxcNpThreadContext.h"
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#include "PxcMaterialMethodImpl.h"
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#include "PxcNpCache.h"
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namespace physx
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{
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struct PxsRigidCore;
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struct PxsShapeCore;
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struct PxcNpWorkUnitFlag
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{
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enum Enum
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{
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eOUTPUT_CONTACTS = 1,
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eOUTPUT_CONSTRAINTS = 2,
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eDISABLE_STRONG_FRICTION = 4,
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eARTICULATION_BODY0 = 8,
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eARTICULATION_BODY1 = 16,
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eDYNAMIC_BODY0 = 32,
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eDYNAMIC_BODY1 = 64,
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eMODIFIABLE_CONTACT = 128,
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eFORCE_THRESHOLD = 256,
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eDETECT_DISCRETE_CONTACT = 512,
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eHAS_KINEMATIC_ACTOR = 1024,
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eDISABLE_RESPONSE = 2048,
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eDETECT_CCD_CONTACTS = 4096
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};
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};
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struct PxcNpWorkUnitStatusFlag
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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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eREFRESHED_WITH_TOUCH = (1 << 6),
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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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// PT: TODO: fix the inconsistent namings (mXXX) in this class
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struct PxcNpWorkUnit
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{
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const PxsRigidCore* rigidCore0; // INPUT //4 //8
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const PxsRigidCore* rigidCore1; // INPUT //8 //16
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const PxsShapeCore* shapeCore0; // INPUT //12 //24
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const PxsShapeCore* shapeCore1; // INPUT //16 //32
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PxU8* ccdContacts; // OUTPUT //20 //40
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PxU8* frictionDataPtr; // INOUT //24 //48
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PxU16 flags; // INPUT //26 //50
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PxU8 frictionPatchCount; // INOUT //27 //51
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PxU8 statusFlags; // OUTPUT (see PxcNpWorkUnitStatusFlag) //28 //52
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PxU8 dominance0; // INPUT //29 //53
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PxU8 dominance1; // INPUT //30 //54
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PxU8 geomType0; // INPUT //31 //55
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PxU8 geomType1; // INPUT //32 //56
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PxU32 index; // INPUT //36 //60
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PxReal restDistance; // INPUT //40 //64
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PxU32 mTransformCache0; // //44 //68
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PxU32 mTransformCache1; // //48 //72
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PxU32 mEdgeIndex; //inout the island gen edge index //52 //76
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PxU32 mNpIndex; //INPUT //56 //80
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PxReal mTorsionalPatchRadius; //60 //84
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PxReal mMinTorsionalPatchRadius; //64 //88
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};
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/*
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* A struct to record the number of work units a particular constraint pointer references.
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* This is created at the beginning of the constriant data and is used to bypass constraint preparation when the
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* bodies are not moving a lot. In this case, we can recycle the constraints and save ourselves some cycles.
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*/
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struct PxcNpWorkUnitBatch
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{
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PxcNpWorkUnit* mUnits[4];
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PxU32 mSize;
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};
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//#if !defined(PX_P64)
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//PX_COMPILE_TIME_ASSERT(0 == (sizeof(PxcNpWorkUnit) & 0x0f));
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//#endif
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PX_FORCE_INLINE void PxcNpWorkUnitClearContactState(PxcNpWorkUnit& n)
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{
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n.ccdContacts = NULL;
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}
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PX_FORCE_INLINE void PxcNpWorkUnitClearCachedState(PxcNpWorkUnit& n)
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{
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n.frictionDataPtr = 0;
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n.frictionPatchCount = 0;
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n.ccdContacts = NULL;
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}
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PX_FORCE_INLINE void PxcNpWorkUnitClearFrictionCachedState(PxcNpWorkUnit& n)
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{
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n.frictionDataPtr = 0;
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n.frictionPatchCount = 0;
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n.ccdContacts = NULL;
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}
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#if !defined(PX_P64)
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//PX_COMPILE_TIME_ASSERT(sizeof(PxcNpWorkUnit)==128);
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#endif
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}
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#endif
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