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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_CONTACT_POINT_H |
31 | #define GU_CONTACT_POINT_H |
32 | |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | |
37 | #include "foundation/PxVec3.h" |
38 | |
39 | namespace physx |
40 | { |
41 | namespace Gu |
42 | { |
43 | |
44 | struct ContactPoint |
45 | { |
46 | /** |
47 | \brief The normal of the contacting surfaces at the contact point. |
48 | |
49 | For two shapes s0 and s1, the normal points in the direction that s0 needs to move in to resolve the contact with s1. |
50 | */ |
51 | PX_ALIGN(16, PxVec3 normal); |
52 | /** |
53 | \brief The separation of the shapes at the contact point. A negative separation denotes a penetration. |
54 | */ |
55 | PxReal separation; |
56 | |
57 | /** |
58 | \brief The point of contact between the shapes, in world space. |
59 | */ |
60 | PX_ALIGN(16, PxVec3 point); |
61 | |
62 | /** |
63 | \brief The max impulse permitted at this point |
64 | */ |
65 | PxReal maxImpulse; |
66 | |
67 | PX_ALIGN(16, PxVec3 targetVel); |
68 | |
69 | /** |
70 | \brief The static friction coefficient |
71 | */ |
72 | PxReal staticFriction; |
73 | |
74 | /** |
75 | \brief Material flags for this contact (eDISABLE_FRICTION, eDISABLE_STRONG_FRICTION). @see PxMaterialFlag |
76 | */ |
77 | PxU8 materialFlags; |
78 | |
79 | /** |
80 | \brief internal structure used for internal use only |
81 | */ |
82 | PxU16 forInternalUse; |
83 | |
84 | /** |
85 | \brief The surface index of shape 1 at the contact point. This is used to identify the surface material. |
86 | |
87 | \note This field is only supported by triangle meshes and heightfields, else it will be set to PXC_CONTACT_NO_FACE_INDEX. |
88 | \note This value must be directly after internalFaceIndex0 in memory |
89 | */ |
90 | |
91 | PxU32 internalFaceIndex1; |
92 | |
93 | /** |
94 | \brief The dynamic friction coefficient |
95 | */ |
96 | PxReal dynamicFriction; |
97 | /** |
98 | \brief The restitution coefficient |
99 | */ |
100 | PxReal restitution; |
101 | |
102 | }; |
103 | |
104 | } |
105 | |
106 | } |
107 | |
108 | /** @} */ |
109 | #endif |
110 | |