130 lines
4.8 KiB
C++
130 lines
4.8 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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#include "ScIterators.h"
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#include "ScBodySim.h"
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#include "ScShapeSim.h"
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#include "ScShapeInteraction.h"
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using namespace physx;
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///////////////////////////////////////////////////////////////////////////////
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Sc::ContactIterator::Pair::Pair(const void*& contactPatches, const void*& contactPoints, const void*& frictionPatches, PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches,
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ShapeSimBase& shape0, ShapeSimBase& shape1, ActorSim* actor0, ActorSim* actor1)
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: mIndex(0)
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, mNumContacts(numContacts)
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, mIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(contactPoints), reinterpret_cast<const PxU32*>(forces + numContacts), numPatches, numContacts)
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, mAnchorIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(frictionPatches), numPatches)
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, mForces(forces)
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, mActor0(actor0->getPxActor())
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, mActor1(actor1->getPxActor())
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{
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mCurrentContact.shape0 = shape0.getPxShape();
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mCurrentContact.shape1 = shape1.getPxShape();
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mCurrentContact.normalForceAvailable = (forces != NULL);
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}
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Sc::ContactIterator::Pair* Sc::ContactIterator::getNextPair()
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{
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PX_ASSERT(mCurrent || (mCurrent == mLast));
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if(mCurrent < mLast)
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{
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ShapeInteraction* si = static_cast<ShapeInteraction*>(*mCurrent);
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const void* contactPatches = NULL;
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const void* contactPoints = NULL;
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PxU32 contactDataSize = 0;
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const PxReal* forces = NULL;
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PxU32 numContacts = 0;
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PxU32 numPatches = 0;
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const void* frictionPatches = NULL;
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PxU32 nextOffset = si->getContactPointData(contactPatches, contactPoints, contactDataSize, numContacts, numPatches, forces, mOffset, *mOutputs, frictionPatches);
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if (nextOffset == mOffset)
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++mCurrent;
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else
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mOffset = nextOffset;
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mCurrentPair = Pair(contactPatches, contactPoints, frictionPatches, contactDataSize, forces, numContacts, numPatches, si->getShape0(), si->getShape1(), &si->getActorSim0(), &si->getActorSim1());
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return &mCurrentPair;
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}
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else
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return NULL;
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}
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Sc::Contact* Sc::ContactIterator::Pair::getNextContact()
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{
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if(mIndex < mNumContacts)
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{
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while (!mIter.hasNextContact())
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{
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if(!mIter.hasNextPatch())
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return NULL;
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mIter.nextPatch();
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}
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mIter.nextContact();
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mCurrentContact.normal = mIter.getContactNormal();
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mCurrentContact.point = mIter.getContactPoint();
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mCurrentContact.separation = mIter.getSeparation();
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mCurrentContact.normalForce = mForces ? mForces[mIndex] : 0;
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mCurrentContact.faceIndex0 = mIter.getFaceIndex0();
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mCurrentContact.faceIndex1 = mIter.getFaceIndex1();
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mIndex++;
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return &mCurrentContact;
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}
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return NULL;
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}
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Sc::FrictionAnchor* Sc::ContactIterator::Pair::getNextFrictionAnchor()
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{
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if(mAnchorIter.hasNextPatch())
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{
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while (!mAnchorIter.hasNextFrictionAnchor())
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{
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if(!mAnchorIter.hasNextPatch())
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return NULL;
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mAnchorIter.nextPatch();
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}
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mAnchorIter.nextFrictionAnchor();
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mCurrentAnchor.normal = mAnchorIter.getNormal();
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mCurrentAnchor.point = mAnchorIter.getPosition();
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mCurrentAnchor.impulse = mAnchorIter.getImpulse();
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return &mCurrentAnchor;
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}
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return NULL;
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}
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///////////////////////////////////////////////////////////////////////////////
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