124 lines
3.8 KiB
C++
124 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 SC_ITERATORS_H
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#define SC_ITERATORS_H
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#include "foundation/PxVec3.h"
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#include "PxContact.h"
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namespace physx
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{
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class PxShape;
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class PxsContactManagerOutputIterator;
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namespace Sc
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{
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class ShapeSimBase;
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class ElementSimInteraction;
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class ActorSim;
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struct Contact
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{
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Contact()
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: normal(0.0f)
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, point(0.0f)
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, separation(0.0f)
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, normalForce(0.0f)
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{}
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PxVec3 normal;
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PxVec3 point;
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PxShape* shape0;
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PxShape* shape1;
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PxReal separation;
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PxReal normalForce;
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PxU32 faceIndex0; // these are the external indices
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PxU32 faceIndex1;
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bool normalForceAvailable;
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};
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struct FrictionAnchor
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{
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PxVec3 normal;
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PxVec3 point;
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PxVec3 impulse;
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};
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class ContactIterator
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{
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public:
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class Pair
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{
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public:
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Pair() : mIter(NULL, NULL, NULL, 0, 0), mAnchorIter(NULL, NULL, 0) {}
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Pair(const void*& contactPatches, const void*& contactPoints, const void*& frictionPatches, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSimBase& shape0, ShapeSimBase& shape1, ActorSim* actor0, ActorSim* actor1);
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Contact* getNextContact();
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FrictionAnchor* getNextFrictionAnchor();
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PxActor* getActor0() { return mActor0; }
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PxActor* getActor1() { return mActor1; }
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private:
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PxU32 mIndex;
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PxU32 mNumContacts;
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PxContactStreamIterator mIter;
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PxFrictionAnchorStreamIterator mAnchorIter;
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const PxReal* mForces;
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Contact mCurrentContact;
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FrictionAnchor mCurrentAnchor;
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PxActor* mActor0;
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PxActor* mActor1;
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};
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ContactIterator() {}
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explicit ContactIterator(ElementSimInteraction** first, ElementSimInteraction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs)
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{
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if ((!first) || (!last) || (first == last))
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{
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mCurrent = NULL;
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mLast = NULL;
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}
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}
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Pair* getNextPair();
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private:
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ElementSimInteraction** mCurrent;
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ElementSimInteraction** mLast;
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Pair mCurrentPair;
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PxU32 mOffset;
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PxsContactManagerOutputIterator* mOutputs;
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private:
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};
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} // namespace Sc
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}
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#endif
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