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25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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 | |
37 | namespace physx |
38 | { |
39 | namespace 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 | |
57 | class ContactBuffer |
58 | { |
59 | public: |
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 | |