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29
30#ifndef GU_CONTACTBUFFER_H
31#define GU_CONTACTBUFFER_H
32
33#include "geomutils/GuContactPoint.h"
34#include "PxPhysXConfig.h"
35#include "PxContact.h"
36
37namespace physx
38{
39namespace Gu
40{
41
42 struct NarrowPhaseParams
43 {
44 PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
45 mContactDistance(contactDistance),
46 mMeshContactMargin(meshContactMargin),
47 mToleranceLength(toleranceLength) {}
48
49 PxReal mContactDistance;
50 PxReal mMeshContactMargin; // PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
51 PxReal mToleranceLength; // PT: copy of PxTolerancesScale::length
52 };
53
54//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
55#define LOCAL_CONTACTS_SIZE 1088
56
57class ContactBuffer
58{
59public:
60
61 static const PxU32 MAX_CONTACTS = 64;
62
63 Gu::ContactPoint contacts[MAX_CONTACTS];
64 PxU32 count;
65 PxU32 pad;
66
67 PX_FORCE_INLINE void reset()
68 {
69 count = 0;
70 }
71
72 PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
73 const PxVec3& worldNormalIn,
74 PxReal separation,
75 PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
76 )
77 {
78 PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);
79
80 if(count>=MAX_CONTACTS)
81 return false;
82
83 Gu::ContactPoint& p = contacts[count++];
84 p.normal = worldNormalIn;
85 p.point = worldPoint;
86 p.separation = separation;
87 p.internalFaceIndex1= faceIndex1;
88 return true;
89 }
90
91 PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
92 const PxVec3& worldNormalIn,
93 PxReal separation,
94 PxU16 internalUsage,
95 PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
96 )
97 {
98 PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);
99
100 if (count >= MAX_CONTACTS)
101 return false;
102
103 Gu::ContactPoint& p = contacts[count++];
104 p.normal = worldNormalIn;
105 p.point = worldPoint;
106 p.separation = separation;
107 p.internalFaceIndex1 = faceIndex1;
108 p.forInternalUse = internalUsage;
109 return true;
110 }
111
112 PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
113 {
114 if(count>=MAX_CONTACTS)
115 return false;
116 contacts[count++] = pt;
117 return true;
118 }
119
120 PX_FORCE_INLINE Gu::ContactPoint* contact()
121 {
122 if(count>=MAX_CONTACTS)
123 return NULL;
124 return &contacts[count++];
125 }
126};
127
128}
129}
130
131#endif
132

source code of qtquick3dphysics/src/3rdparty/PhysX/include/geomutils/GuContactBuffer.h