99 lines
3.8 KiB
C++
99 lines
3.8 KiB
C++
// 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 PXG_PERSISTENT_CONTACT_MANIFOLD_H
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#define PXG_PERSISTENT_CONTACT_MANIFOLD_H
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#include "cutil_math.h"
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#include "AlignedTransform.h"
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#define PXG_MAX_PCM_CONTACTS 4
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#define PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS 4
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#define PXG_SUBMANIFOLD_MAX_CONTACTS 6
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namespace physx
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{
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struct PX_ALIGN_PREFIX(16) PxgPersistentContactManifold
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{
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float4 mLocalNormal_PenW[PXG_MAX_PCM_CONTACTS]; //local normal + penetration
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float4 mLocalContactA[PXG_MAX_PCM_CONTACTS]; //local contact in body A's space
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float4 mLocalContactB[PXG_MAX_PCM_CONTACTS]; //local contact in body B's space
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float4 mRelativePos; //Cached relative transforms
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PxAlignedQuat mQuatA; //Cached body A's quatenion
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PxAlignedQuat mQuatB; //Cached body B's quatenion
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PxU32 mNbContacts; //NbContacts
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PxU32 mNbWarmStartPoints; //Nb warm start points
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PxU32 mWarmStartA; //GJK warm-start mask for shape A
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PxU32 mWarmStartB; //GJK warm-start mask for shape B
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PX_FORCE_INLINE void clear()
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{
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mNbContacts = 0;
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mNbWarmStartPoints = 0;
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mRelativePos = make_float4(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL);
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mQuatA = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
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mQuatB = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
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}
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//KS - TODO - extend and add functionality as is required...
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}
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PX_ALIGN_SUFFIX(16);
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struct PX_ALIGN_PREFIX(16) PxgContact
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{
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PxVec3 pointA;
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PxVec3 pointB;
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PxVec3 normal;
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PxReal penetration;
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PxU32 triIndex;
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PxU32 pad;
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} // 48 due to padding
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PX_ALIGN_SUFFIX(16);
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struct PX_ALIGN_PREFIX(16) PxgPersistentContactMultiManifold
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{
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PxgContact mContacts[PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS][PXG_SUBMANIFOLD_MAX_CONTACTS]; // 1152
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PxU32 mNbContacts[PXG_MULTIMANIFOLD_MAX_SUBMANIFOLDS]; // 1168
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PxAlignedTransform mRelativeTransform; // 1200
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PxU32 mNbManifolds; // 1216 due to padding
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PX_FORCE_INLINE void clear()
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{
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mNbManifolds = 0;
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mRelativeTransform.p = make_float4(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL);
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mRelativeTransform.q = PxAlignedQuat(0.f, 0.f, 0.f, 1.f);
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}
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}
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PX_ALIGN_SUFFIX(16);
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}
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#endif
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