276 lines
9.4 KiB
C
276 lines
9.4 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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 PX_CONTACT_MODIFY_CALLBACK
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#define PX_CONTACT_MODIFY_CALLBACK
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/** \addtogroup physics
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@{
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*/
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#include "PxPhysX.h"
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#include "PxShape.h"
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#include "PxContact.h"
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#include "foundation/PxTransform.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxShape;
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/**
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\brief per-ontact point solver inputs as used by contact modification
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*/
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struct PxContactPointAux
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{
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/**
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\brief The desired target velocity at the contact point in the direction of the contact normal. For resting contact, this is zero, or positive
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to make the objects pop apart.
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For a contact point between two bodies b0 and b1, the target velocity refers to the relative velocity of b0 with respect to b1 (in other words,
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the velocity of b0 if b1 was considered static). The target velocity is split into a component parallel to the contact normal and a component
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perpendicular to the contact normal. The force, resulting from the target velocity parallel to the contact normal, will only get applied if it
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is positive. Flipping the contact normal, for example, might thus cause colliding objects to penetrate further because the necessary force
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along the contact normal is negative.
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*/
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PxVec3 targetVelocity;
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/**
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\brief The maximum impulse the solver is permitted to apply at the contact point in order to try to meet the
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targetVelocity requirement. If max impulse is zero, the solver is not able to apply any impulse at the contact, and as a result the contact will be ignored.
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*/
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PxReal maxImpulse;
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};
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/**
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\brief An array of contact points, as passed to contact modification.
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The word 'set' in the name does not imply that duplicates are filtered in any
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way. This initial set of contacts does potentially get reduced to a smaller
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set before being passed to the solver.
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You can use the accessors to read and write contact properties. The number of
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contacts is immutable, other than being able to disable contacts using ignore().
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@see PxContactModifyCallback, PxContactPoint, PxContactPointAux
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*/
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class PxContactSet
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{
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public:
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/**
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\brief Get the position of a specific contact point in the set.
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@see PxContactPoint.PX_ALIGN(16, PxVec3 point)
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*/
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PX_FORCE_INLINE const PxVec3& getPoint(PxU32 i) const { return mContacts[i].point; }
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/**
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\brief Alter the position of a specific contact point in the set.
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@see PxContactPoint.PX_ALIGN(16, PxVec3 point)
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*/
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PX_FORCE_INLINE void setPoint(PxU32 i, const PxVec3& p) { mContacts[i].point = p; }
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/**
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\brief Get the contact normal of a specific contact point in the set.
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@see PxContactPoint.PX_ALIGN(16, PxVec3 normal)
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*/
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PX_FORCE_INLINE const PxVec3& getNormal(PxU32 i) const { return mContacts[i].normal; }
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/**
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\brief Alter the contact normal of a specific contact point in the set.
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\note Changing the normal can cause contact points to be ignored. Please read the documentation on #PxContactPointAux.targetVelocity for more details.
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@see PxContactPoint.PX_ALIGN(16, PxVec3 normal)
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*/
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PX_FORCE_INLINE void setNormal(PxU32 i, const PxVec3& n) { mContacts[i].normal = n;}
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/**
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\brief Get the separation of a specific contact point in the set.
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@see PxContactPoint.separation
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*/
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PX_FORCE_INLINE PxReal getSeparation(PxU32 i) const { return mContacts[i].separation; }
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/**
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\brief Alter the separation of a specific contact point in the set.
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@see PxContactPoint.separation
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*/
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PX_FORCE_INLINE void setSeparation(PxU32 i, PxReal s) { mContacts[i].separation = s; }
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/**
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\brief Get the target velocity of a specific contact point in the set.
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@see PxContactPointAux.targetVelocity
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*/
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PX_FORCE_INLINE const PxVec3& getTargetVelocity(PxU32 i) const { return mAux[i].targetVelocity; }
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/**
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\brief Alter the target velocity of a specific contact point in the set.
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@see PxContactPointAux.targetVelocity
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*/
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PX_FORCE_INLINE void setTargetVelocity(PxU32 i, const PxVec3& v){ mAux[i].targetVelocity = v;}
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/**
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\brief Get the face index with respect to the first shape of the pair for a specific contact point in the set.
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@see PxContactPoint.internalFaceIndex0
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*/
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PX_FORCE_INLINE PxU32 getInternalFaceIndex0(PxU32 i) { return mContacts[i].internalFaceIndex0; }
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/**
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\brief Get the face index with respect to the second shape of the pair for a specific contact point in the set.
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@see PxContactPoint.internalFaceIndex1
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*/
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PX_FORCE_INLINE PxU32 getInternalFaceIndex1(PxU32 i) { return mContacts[i].internalFaceIndex1; }
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/**
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\brief Get the maximum impulse for a specific contact point in the set.
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@see PxContactPointAux.maxImpulse
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*/
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PX_FORCE_INLINE PxReal getMaxImpulse(PxU32 i) const { return mAux[i].maxImpulse; }
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/**
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\brief Alter the maximum impulse for a specific contact point in the set.
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\note Must be nonnegative. If set to zero, the contact point will be ignored
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@see PxContactPointAux.maxImpulse
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*/
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PX_FORCE_INLINE void setMaxImpulse(PxU32 i, PxReal s) { mAux[i].maxImpulse = s; }
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/**
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\brief Ignore the contact point.
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If a contact point is ignored then no force will get applied at this point. This can be used to disable collision in certain areas of a shape, for example.
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*/
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PX_FORCE_INLINE void ignore(PxU32 i) { mAux[i].maxImpulse = 0; }
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/**
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\brief The number of contact points in the set.
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*/
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PX_FORCE_INLINE PxU32 size() const { return mCount; }
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protected:
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PxU32 mCount; //!< Number of contact points in the set
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PxContactPoint* mContacts; //!< The contact points of the set
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PxContactPointAux* mAux; //!< Additional data for each contact point of the set
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};
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/**
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\brief An array of instances of this class is passed to PxContactModifyCallback::onContactModify().
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@see PxContactModifyCallback
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*/
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class PxContactModifyPair
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{
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public:
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/**
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\brief The shapes which make up the pair in contact.
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Note that these are the shapes as seen by the simulation, and may have been deleted since the simulation step started.
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*/
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const PxShape* shape[2];
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/**
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\brief The shape to world transforms of the two shapes.
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These are the transforms as the simulation engine sees them, and may have been modified by the application
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since the simulation step started.
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*/
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PxTransform transform[2];
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/**
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\brief An array of contact points between these two shapes.
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*/
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PxContactSet contacts;
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};
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/**
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\brief An interface class that the user can implement in order to modify contact constraints.
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<b>Threading:</b> It is <b>necessary</b> to make this class thread safe as it will be called in the context of the
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simulation thread. It might also be necessary to make it reentrant, since some calls can be made by multi-threaded
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parts of the physics engine.
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You can enable the use of this contact modification callback by raising the flag PxPairFlag::eMODIFY_CONTACTS in
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the filter shader/callback (see #PxSimulationFilterShader) for a pair of rigid body objects.
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Please note:
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+ Raising the contact modification flag will not wake the actors up automatically.
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+ It is not possible to turn off the performance degradation by simply removing the callback from the scene, the
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filter shader/callback has to be used to clear the contact modification flag.
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+ The contacts will only be reported as long as the actors are awake. There will be no callbacks while the actors are sleeping.
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@see PxScene.setContactModifyCallback() PxScene.getContactModifyCallback()
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*/
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class PxContactModifyCallback
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{
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public:
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/**
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\brief Passes modifiable arrays of contacts to the application.
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The initial contacts are as determined fresh each frame by collision detection.
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The number of contacts can not be changed, so you cannot add your own contacts. You may however
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disable contacts using PxContactSet::ignore().
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@see PxContactModifyPair
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*/
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virtual void onContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
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protected:
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virtual ~PxContactModifyCallback(){}
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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