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29
30
31#ifndef PX_PHYSICS_SCP_ITERATOR
32#define PX_PHYSICS_SCP_ITERATOR
33
34#include "foundation/PxVec3.h"
35#include "PxContact.h"
36
37namespace physx
38{
39class PxShape;
40class PxsContactManagerOutputIterator;
41
42namespace Sc
43{
44 class ShapeSim;
45 class Interaction;
46
47 struct Contact
48 {
49 Contact()
50 : normal(0.0f)
51 , point(0.0f)
52 , separation(0.0f)
53 , normalForce(0.0f)
54 {}
55
56 PxVec3 normal;
57 PxVec3 point;
58 PxShape* shape0;
59 PxShape* shape1;
60 PxReal separation;
61 PxReal normalForce;
62 PxU32 faceIndex0; // these are the external indices
63 PxU32 faceIndex1;
64 bool normalForceAvailable;
65 };
66
67 class ContactIterator
68 {
69 public:
70
71 class Pair
72 {
73 public:
74 Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
75 Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSim& shape0, ShapeSim& shape1);
76 Contact* getNextContact();
77
78 private:
79 PxU32 mIndex;
80 PxU32 mNumContacts;
81 PxContactStreamIterator mIter;
82 const PxReal* mForces;
83 Contact mCurrentContact;
84 };
85
86 ContactIterator() {}
87 explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
88 Pair* getNextPair();
89
90 private:
91 Interaction** mCurrent;
92 Interaction** mLast;
93 Pair mCurrentPair;
94 PxU32 mOffset;
95 PxsContactManagerOutputIterator* mOutputs;
96
97 private:
98 };
99
100} // namespace Sc
101
102}
103
104#endif
105

source code of qtquick3dphysics/src/3rdparty/PhysX/source/simulationcontroller/include/ScIterators.h