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