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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 | |
31 | #ifndef PXS_CONTACTMANAGER_H |
32 | #define PXS_CONTACTMANAGER_H |
33 | |
34 | #include "PxvConfig.h" |
35 | #include "PxcNpWorkUnit.h" |
36 | |
37 | namespace physx |
38 | { |
39 | |
40 | class PxsContext; |
41 | class PxsRigidBody; |
42 | struct PxsCCDBody; |
43 | class PxsMaterialManager; |
44 | struct PxsCCDShape; |
45 | |
46 | namespace Dy |
47 | { |
48 | class DynamicsContext; |
49 | } |
50 | |
51 | namespace Sc |
52 | { |
53 | class ShapeInteraction; |
54 | } |
55 | |
56 | enum PxsPairVisColor |
57 | { |
58 | |
59 | eVIS_COLOR_SWEPTINTEGRATE_OFF = 0x000000, |
60 | eVIS_COLOR_SWEPTINTEGRATE_SLOW = 0x404040, |
61 | eVIS_COLOR_SWEPTINTEGRATE_CLEAR = 0x007f00, |
62 | eVIS_COLOR_SWEPTINTEGRATE_IMPACT = 0x1680ff, |
63 | eVIS_COLOR_SWEPTINTEGRATE_FAIL = 0x0000ff |
64 | |
65 | }; |
66 | |
67 | |
68 | /** |
69 | \brief Additional header structure for CCD contact data stream. |
70 | */ |
71 | struct |
72 | { |
73 | /** |
74 | \brief Stream for next collision. The same pair can collide multiple times during multiple CCD passes. |
75 | */ |
76 | PxsCCDContactHeader* ; //4 //8 |
77 | /** |
78 | \brief Size (in bytes) of the CCD contact stream (not including force buffer) |
79 | */ |
80 | PxU16 ; //6 //10 |
81 | /** |
82 | \brief Defines whether the stream is from a previous pass. |
83 | |
84 | It could happen that the stream can not get allocated because we run out of memory. In that case the current event should not use the stream |
85 | from an event of the previous pass. |
86 | */ |
87 | PxU16 ; //8 //12 |
88 | |
89 | PxU8 [12 - sizeof(PxsCCDContactHeader*)]; //16 |
90 | }; |
91 | |
92 | PX_COMPILE_TIME_ASSERT((sizeof(PxsCCDContactHeader) & 0xF) == 0); |
93 | |
94 | |
95 | class PxsContactManager |
96 | { |
97 | public: |
98 | PxsContactManager(PxsContext* context, PxU32 index); |
99 | ~PxsContactManager(); |
100 | |
101 | |
102 | PX_FORCE_INLINE void setDisableStrongFriction(PxU32 d) { (!d) ? mNpUnit.flags &= ~PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION |
103 | : mNpUnit.flags |= PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION; } |
104 | |
105 | PX_FORCE_INLINE PxReal getRestDistance() const { return mNpUnit.restDistance; } |
106 | PX_FORCE_INLINE void setRestDistance(PxReal v) { mNpUnit.restDistance = v; } |
107 | |
108 | void destroy(); |
109 | |
110 | PX_FORCE_INLINE PxU8 getDominance0() const { return mNpUnit.dominance0; } |
111 | PX_FORCE_INLINE void setDominance0(PxU8 v) { mNpUnit.dominance0 = v; } |
112 | |
113 | PX_FORCE_INLINE PxU8 getDominance1() const { return mNpUnit.dominance1; } |
114 | PX_FORCE_INLINE void setDominance1(PxU8 v) { mNpUnit.dominance1 = v; } |
115 | |
116 | PX_FORCE_INLINE PxU16 getTouchStatus() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eHAS_TOUCH); } |
117 | PX_FORCE_INLINE PxU16 touchStatusKnown() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eTOUCH_KNOWN); } |
118 | PX_FORCE_INLINE PxI32 getTouchIdx() const { return (mNpUnit.statusFlags& PxcNpWorkUnitStatusFlag::eHAS_TOUCH) ? 1 : (mNpUnit.statusFlags& PxcNpWorkUnitStatusFlag::eHAS_NO_TOUCH ? -1 : 0); } |
119 | |
120 | PX_FORCE_INLINE PxU32 getIndex() const { return mNpUnit.index; } |
121 | |
122 | PX_FORCE_INLINE PxU16 getHasCCDRetouch() const { return PxU16(mNpUnit.statusFlags & PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH); } |
123 | PX_FORCE_INLINE void clearCCDRetouch() { mNpUnit.statusFlags &= ~PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; } |
124 | PX_FORCE_INLINE void raiseCCDRetouch() { mNpUnit.statusFlags |= PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; } |
125 | |
126 | |
127 | |
128 | // flags stuff - needs to be refactored |
129 | |
130 | PX_FORCE_INLINE Ps::IntBool isChangeable() const { return Ps::IntBool(mFlags & PXS_CM_CHANGEABLE); } |
131 | PX_FORCE_INLINE Ps::IntBool getCCD() const { return Ps::IntBool((mFlags & PXS_CM_CCD_LINEAR) && (mNpUnit.flags & PxcNpWorkUnitFlag::eDETECT_CCD_CONTACTS)); } |
132 | PX_FORCE_INLINE Ps::IntBool getHadCCDContact() const { return Ps::IntBool(mFlags & PXS_CM_CCD_CONTACT); } |
133 | PX_FORCE_INLINE void setHadCCDContact() { mFlags |= PXS_CM_CCD_CONTACT; } |
134 | void setCCD(bool enable); |
135 | PX_FORCE_INLINE void clearCCDContactInfo() { mFlags &= ~PXS_CM_CCD_CONTACT; mNpUnit.ccdContacts = NULL; } |
136 | |
137 | PX_FORCE_INLINE PxcNpWorkUnit& getWorkUnit() { return mNpUnit; } |
138 | PX_FORCE_INLINE const PxcNpWorkUnit& getWorkUnit() const { return mNpUnit; } |
139 | |
140 | PX_FORCE_INLINE void* getUserData() const { return mShapeInteraction; } |
141 | |
142 | // Setup solver-constraints |
143 | void resetCachedState(); |
144 | void resetFrictionCachedState(); |
145 | |
146 | Sc::ShapeInteraction* getShapeInteraction() const { return mShapeInteraction; } |
147 | |
148 | private: |
149 | //KS - moving this up - we want to get at flags |
150 | |
151 | PxsRigidBody* mRigidBody0; //4 //8 |
152 | PxsRigidBody* mRigidBody1; //8 //16 |
153 | PxU32 mFlags; //20 //36 |
154 | Sc::ShapeInteraction* mShapeInteraction; //16 //32 |
155 | |
156 | |
157 | |
158 | friend class PxsContext; |
159 | // everything required for narrow phase to run |
160 | PxcNpWorkUnit mNpUnit; |
161 | |
162 | enum |
163 | { |
164 | PXS_CM_CHANGEABLE = (1<<0), |
165 | PXS_CM_CCD_LINEAR = (1<<1), |
166 | PXS_CM_CCD_CONTACT = (1 << 2) |
167 | }; |
168 | |
169 | friend class Dy::DynamicsContext; |
170 | friend struct PxsCCDPair; |
171 | friend class PxsIslandManager; |
172 | friend class PxsCCDContext; |
173 | friend class Sc::ShapeInteraction; |
174 | }; |
175 | |
176 | } |
177 | |
178 | #endif |
179 | |