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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef GU_CONTACTBUFFER_H
#define GU_CONTACTBUFFER_H
#include "geomutils/GuContactPoint.h"
#include "PxPhysXConfig.h"
#include "PxContact.h"
namespace physx
{
namespace Gu
{
struct NarrowPhaseParams
{
PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
mContactDistance(contactDistance),
mMeshContactMargin(meshContactMargin),
mToleranceLength(toleranceLength) {}
PxReal mContactDistance;
PxReal mMeshContactMargin; // PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
PxReal mToleranceLength; // PT: copy of PxTolerancesScale::length
};
//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
#define LOCAL_CONTACTS_SIZE 1088
class ContactBuffer
{
public:
static const PxU32 MAX_CONTACTS = 64;
Gu::ContactPoint contacts[MAX_CONTACTS];
PxU32 count;
PxU32 pad;
PX_FORCE_INLINE void reset()
{
count = 0;
}
PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
const PxVec3& worldNormalIn,
PxReal separation,
PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
)
{
PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);
if(count>=MAX_CONTACTS)
return false;
Gu::ContactPoint& p = contacts[count++];
p.normal = worldNormalIn;
p.point = worldPoint;
p.separation = separation;
p.internalFaceIndex1= faceIndex1;
return true;
}
PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
const PxVec3& worldNormalIn,
PxReal separation,
PxU16 internalUsage,
PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
)
{
PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);
if (count >= MAX_CONTACTS)
return false;
Gu::ContactPoint& p = contacts[count++];
p.normal = worldNormalIn;
p.point = worldPoint;
p.separation = separation;
p.internalFaceIndex1 = faceIndex1;
p.forInternalUse = internalUsage;
return true;
}
PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
{
if(count>=MAX_CONTACTS)
return false;
contacts[count++] = pt;
return true;
}
PX_FORCE_INLINE Gu::ContactPoint* contact()
{
if(count>=MAX_CONTACTS)
return NULL;
return &contacts[count++];
}
};
}
}
#endif
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