| 1 | // |
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| 2 | // Redistribution and use in source and binary forms, with or without |
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| 3 | // modification, are permitted provided that the following conditions |
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| 4 | // are met: |
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| 5 | // * Redistributions of source code must retain the above copyright |
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| 6 | // notice, this list of conditions and the following disclaimer. |
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| 7 | // * Redistributions in binary form must reproduce the above copyright |
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| 8 | // notice, this list of conditions and the following disclaimer in the |
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| 9 | // documentation and/or other materials provided with the distribution. |
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| 10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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| 11 | // contributors may be used to endorse or promote products derived |
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| 12 | // from this software without specific prior written permission. |
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| 13 | // |
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| 14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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| 15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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| 18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
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| 19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
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| 20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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| 21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
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| 22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 25 | // |
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| 26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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| 27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
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| 28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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| 29 | |
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| 30 | #ifndef PXS_CONTACT_MANAGER_STATE_H |
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| 31 | #define PXS_CONTACT_MANAGER_STATE_H |
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| 32 | |
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| 33 | #include "foundation/PxSimpleTypes.h" |
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| 34 | |
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| 35 | namespace physx |
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| 36 | { |
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| 37 | |
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| 38 | struct PxsShapeCore; |
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| 39 | |
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| 40 | /** |
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| 41 | There is an implicit 1:1 mapping between PxgContactManagerInput and PxsContactManagerOutput. The structures are split because PxgNpContactManagerInput contains constant |
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| 42 | data that is produced by the CPU code and PxgNpContactManagerOutput contains per-frame contact information produced by the NP. |
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| 43 | |
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| 44 | There is also a 1:1 mapping between the PxgNpContactManager and PxsContactManager. This mapping is handled within the PxgNPhaseCore. |
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| 45 | |
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| 46 | The previous contact states are implicitly cached in PxsContactManager and will be propagated to the solver. Friction correlation is also done implicitly using cached |
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| 47 | information in PxsContactManager. |
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| 48 | The NP will produce a list of pairs that found/lost patches for the solver along with updating the PxgNpContactManagerOutput for all pairs. |
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| 49 | */ |
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| 50 | |
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| 51 | struct PxsContactManagerStatusFlag |
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| 52 | { |
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| 53 | enum Enum |
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| 54 | { |
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| 55 | eHAS_NO_TOUCH = (1 << 0), |
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| 56 | eHAS_TOUCH = (1 << 1), |
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| 57 | //eHAS_SOLVER_CONSTRAINTS = (1 << 2), |
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| 58 | eREQUEST_CONSTRAINTS = (1 << 3), |
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| 59 | 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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| 60 | // 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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| 61 | // contact report callback if requested. |
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| 62 | eDIRTY_MANAGER = (1 << 5), |
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| 63 | 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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| 64 | }; |
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| 65 | }; |
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| 66 | |
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| 67 | |
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| 68 | struct PX_ALIGN_PREFIX(16) PxsContactManagerOutput |
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| 69 | { |
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| 70 | PxU8* contactPatches; //Start index/ptr for contact patches |
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| 71 | PxU8* contactPoints; //Start index/ptr for contact points |
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| 72 | PxReal* contactForces; //Start index/ptr for contact forces |
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| 73 | PxU8 nbContacts; //Num contacts |
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| 74 | PxU8 nbPatches; //Num patches |
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| 75 | PxU8 statusFlag; //Status flag (has touch etc.) |
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| 76 | PxU8 prevPatches; //Previous number of patches |
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| 77 | |
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| 78 | PX_FORCE_INLINE PxU32* getInternalFaceIndice() |
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| 79 | { |
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| 80 | return reinterpret_cast<PxU32*>(contactForces + nbContacts); |
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| 81 | } |
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| 82 | } |
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| 83 | PX_ALIGN_SUFFIX(16); |
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| 84 | |
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| 85 | struct /*PX_ALIGN_PREFIX(16)*/ PxsContactManagerPersistency |
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| 86 | { |
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| 87 | PxU8 mPrevPatches; |
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| 88 | PxU8 mNbFrictionPatches; |
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| 89 | PxU8 mNbPrevFrictionPatches; |
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| 90 | } |
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| 91 | /*PX_ALIGN_SUFFIX(16)*/; |
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| 92 | |
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| 93 | } |
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| 94 | |
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| 95 | #endif //PXG_CONTACT_MANAGER_H |
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| 96 | |
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