253 lines
9.6 KiB
C
253 lines
9.6 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef SC_ACTOR_PAIR_H
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#define SC_ACTOR_PAIR_H
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#include "ScRigidSim.h"
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#include "ScContactStream.h"
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#include "ScNPhaseCore.h"
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#include "foundation/PxErrors.h"
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#include "foundation/PxFoundation.h"
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxSimpleTypes.h"
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#if PX_SUPPORT_GPU_PHYSX
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#include "ScDeformableSurfaceSim.h"
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#include "ScDeformableVolumeSim.h"
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#endif
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namespace physx
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{
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namespace Sc
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{
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class ActorPairContactReportData
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{
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public:
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ActorPairContactReportData() :
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mStrmResetStamp (0xffffffff),
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mActorAID (0xffffffff),
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mActorBID (0xffffffff),
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mPxActorA (NULL),
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mPxActorB (NULL)
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{}
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ContactStreamManager mContactStreamManager;
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PxU32 mStrmResetStamp;
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PxU32 mActorAID;
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PxU32 mActorBID;
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PxActor* mPxActorA;
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PxActor* mPxActorB;
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};
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/**
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\brief Class shared by all shape interactions for a pair of actors.
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This base class is used if no shape pair of an actor pair has contact reports requested.
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*/
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class ActorPair
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{
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public:
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enum ActorPairFlags
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{
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eIS_REPORT_PAIR = (1<<0),
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eIS_IN_CONTACT_REPORT_ACTOR_PAIR_SET = (1<<1), // PT: whether the pair is already stored in the 'ContactReportActorPairSet' or not
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eMAX = (1<<2)
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};
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PX_FORCE_INLINE ActorPair() : mRefCount(0), mTouchCount_internalFlags(0) {}
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PX_FORCE_INLINE ~ActorPair() {}
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PX_FORCE_INLINE PxIntBool isReportPair() const { return (getFlags() & eIS_REPORT_PAIR); }
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PX_FORCE_INLINE void incTouchCount() { setTouchCount(getTouchCount() + 1); PX_ASSERT(getTouchCount()); }
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PX_FORCE_INLINE void decTouchCount() { PX_ASSERT(getTouchCount()); setTouchCount(getTouchCount() -1); }
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PX_FORCE_INLINE PxU32 getTouchCount() const { return mTouchCount_internalFlags >> sTouchCountShift; }
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PX_FORCE_INLINE void incRefCount() { ++mRefCount; PX_ASSERT(mRefCount>0); }
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PX_FORCE_INLINE PxU32 decRefCount() { PX_ASSERT(mRefCount>0); return --mRefCount; }
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PX_FORCE_INLINE PxU32 getRefCount() const { return mRefCount; }
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private:
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ActorPair& operator=(const ActorPair&);
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protected:
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PxU32 mRefCount;
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PxU32 mTouchCount_internalFlags;
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PX_FORCE_INLINE PxU32 getFlags() const { return mTouchCount_internalFlags & sFlagMask; }
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PX_FORCE_INLINE void raiseFlags(PxU32 flags) { PX_ASSERT(flags < ActorPairFlags::eMAX); mTouchCount_internalFlags |= flags; }
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PX_FORCE_INLINE void clearFlags(PxU32 flags);
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PX_FORCE_INLINE void setTouchCount(PxU32 count);
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public:
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static const PxU32 sFlagMask = (ActorPairFlags::eMAX - 1);
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static const PxU32 sTouchCountShift = 2; // shift necessary to extract the touch count
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PX_COMPILE_TIME_ASSERT(ActorPairFlags::eMAX == (1 << sTouchCountShift)); // if this breaks please adjust the sTouchCountShift above.
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};
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/**
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\brief Class shared by all shape interactions for a pair of actors if contact reports are requested.
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This class is used if at least one shape pair of an actor pair has contact reports requested.
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\note If a pair of actors had contact reports requested for some of the shape interactions but all of them switch to not wanting contact reports
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any longer, then the ActorPairReport instance is kept being used and won't get replaced by a simpler ActorPair instance.
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*/
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class ActorPairReport : public ActorPair
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{
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PX_NOCOPY(ActorPairReport)
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public:
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PX_FORCE_INLINE ActorPairReport(ActorSim&, ActorSim&);
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PX_FORCE_INLINE ~ActorPairReport();
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PX_INLINE ContactStreamManager& createContactStreamManager(NPhaseCore&);
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PX_FORCE_INLINE ContactStreamManager& getContactStreamManager() const { PX_ASSERT(mReportData); return mReportData->mContactStreamManager; }
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PX_FORCE_INLINE ActorSim& getActorA() const { return mActorA; }
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PX_FORCE_INLINE ActorSim& getActorB() const { return mActorB; }
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PX_INLINE PxU32 getActorAID() const { PX_ASSERT(mReportData); return mReportData->mActorAID; }
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PX_INLINE PxU32 getActorBID() const { PX_ASSERT(mReportData); return mReportData->mActorBID; }
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PX_INLINE PxActor* getPxActorA() const { PX_ASSERT(mReportData); return mReportData->mPxActorA; }
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PX_INLINE PxActor* getPxActorB() const { PX_ASSERT(mReportData); return mReportData->mPxActorB; }
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PX_INLINE bool streamResetStamp(PxU32 cmpStamp);
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PX_FORCE_INLINE PxIntBool isInContactReportActorPairSet() const { return (getFlags() & eIS_IN_CONTACT_REPORT_ACTOR_PAIR_SET); }
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PX_FORCE_INLINE void setInContactReportActorPairSet() { raiseFlags(eIS_IN_CONTACT_REPORT_ACTOR_PAIR_SET); }
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PX_FORCE_INLINE void clearInContactReportActorPairSet() { clearFlags(eIS_IN_CONTACT_REPORT_ACTOR_PAIR_SET); }
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PX_FORCE_INLINE void createContactReportData(NPhaseCore&);
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PX_FORCE_INLINE void convert(const ActorPair& aPair) { PX_ASSERT(!aPair.isReportPair()); setTouchCount(aPair.getTouchCount()); mRefCount = aPair.getRefCount(); }
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PX_FORCE_INLINE static ActorPairReport& cast(ActorPair& aPair) { PX_ASSERT(aPair.isReportPair()); return static_cast<ActorPairReport&>(aPair); }
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private:
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ActorSim& mActorA;
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ActorSim& mActorB;
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public:
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ActorPairContactReportData* mReportData;
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};
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} // namespace Sc
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//// Sc::ActorPair implementations
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PX_FORCE_INLINE void Sc::ActorPair::setTouchCount(PxU32 count)
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{
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PX_ASSERT(count <= (PX_MAX_U32 >> sTouchCountShift));
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if (count == (PX_MAX_U32 >> sTouchCountShift)) // we rely on inc/dec behaviour here which means we'll always pass the max value before overflowing.
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{
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PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "Sc::ActorPair: maximum count of touching shapes per pair reached, any additional touch will introduce undefined behavior.");
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}
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mTouchCount_internalFlags = (mTouchCount_internalFlags & sFlagMask) | (count << sTouchCountShift);
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}
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PX_FORCE_INLINE void Sc::ActorPair::clearFlags(PxU32 flags)
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{
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PX_ASSERT(flags < ActorPairFlags::eMAX);
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PxU32 tmpFlags = getFlags();
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tmpFlags &= ~flags;
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mTouchCount_internalFlags &= ~sFlagMask;
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raiseFlags(tmpFlags);
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}
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//// Sc::ActorPairReport implementations
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PX_FORCE_INLINE Sc::ActorPairReport::ActorPairReport(ActorSim& actor0, ActorSim& actor1) : ActorPair(),
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mActorA (actor0),
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mActorB (actor1),
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mReportData (NULL)
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{
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PX_ASSERT(getFlags() == 0);
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raiseFlags(ActorPair::eIS_REPORT_PAIR);
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}
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PX_FORCE_INLINE Sc::ActorPairReport::~ActorPairReport()
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{
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PX_ASSERT(mReportData == NULL);
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}
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PX_INLINE bool Sc::ActorPairReport::streamResetStamp(PxU32 cmpStamp)
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{
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PX_ASSERT(mReportData);
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const bool ret = (cmpStamp != mReportData->mStrmResetStamp);
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mReportData->mStrmResetStamp = cmpStamp;
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return ret;
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}
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PX_INLINE Sc::ContactStreamManager& Sc::ActorPairReport::createContactStreamManager(NPhaseCore& npCore)
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{
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// Lazy create report data
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if(!mReportData)
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createContactReportData(npCore);
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return mReportData->mContactStreamManager;
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}
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PX_FORCE_INLINE void Sc::ActorPairReport::createContactReportData(NPhaseCore& npCore)
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{
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PX_ASSERT(!mReportData);
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Sc::ActorPairContactReportData* reportData = npCore.createActorPairContactReportData();
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mReportData = reportData;
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if(reportData)
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{
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const ActorCore& actorCoreA = mActorA.getActorCore();
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const ActorCore& actorCoreB = mActorB.getActorCore();
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reportData->mActorAID = mActorA.getActorID();
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reportData->mActorBID = mActorB.getActorID();
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#if PX_SUPPORT_GPU_PHYSX
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if (mActorA.getActorType() == PxActorType::eDEFORMABLE_VOLUME)
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reportData->mPxActorA = static_cast<const DeformableVolumeCore&>(actorCoreA).getPxActor();
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else if (mActorA.getActorType() == PxActorType::eDEFORMABLE_SURFACE)
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reportData->mPxActorA = static_cast<const DeformableSurfaceCore&>(actorCoreA).getPxActor();
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else
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#endif
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reportData->mPxActorA = static_cast<const RigidCore&>(actorCoreA).getPxActor();
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#if PX_SUPPORT_GPU_PHYSX
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if (mActorB.getActorType() == PxActorType::eDEFORMABLE_VOLUME)
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reportData->mPxActorB = static_cast<const DeformableVolumeCore&>(actorCoreB).getPxActor();
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else if (mActorB.getActorType() == PxActorType::eDEFORMABLE_SURFACE)
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reportData->mPxActorB = static_cast<const DeformableSurfaceCore&>(actorCoreB).getPxActor();
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else
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#endif
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reportData->mPxActorB = static_cast<const RigidCore&>(actorCoreB).getPxActor();
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}
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}
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}
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#endif
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