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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 419 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/PxContactModifyCallback.h b/PhysX_3.4/Include/PxContactModifyCallback.h
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+// 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) 2008-2016 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 "PxPhysXConfig.h"
+#include "PxShape.h"
+#include "PxContact.h"
+#include "foundation/PxTransform.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxShape;
+
+/**
+\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, PxModifiableContact
+*/
+class PxContactSet
+{
+public:
+	/**
+	\brief Get the position of a specific contact point in the set.
+
+	@see PxModifiableContact.point
+	*/
+	PX_FORCE_INLINE		const PxVec3& getPoint(PxU32 i) const			{ return mContacts[i].contact;		}
+
+	/**
+	\brief Alter the position of a specific contact point in the set.
+
+	@see PxModifiableContact.point
+	*/
+	PX_FORCE_INLINE		void setPoint(PxU32 i, const PxVec3& p)			{ mContacts[i].contact = p; }
+
+	/**
+	\brief Get the contact normal of a specific contact point in the set.
+
+	@see PxModifiableContact.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.
+
+	@see PxModifiableContact.normal
+	*/
+	PX_FORCE_INLINE		void setNormal(PxU32 i, const PxVec3& n)		
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
+		mContacts[i].normal = n;
+	}
+
+	/**
+	\brief Get the separation of a specific contact point in the set.
+
+	@see PxModifiableContact.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 PxModifiableContact.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 PxModifiableContact.targetVelocity
+
+	*/
+	PX_FORCE_INLINE		const PxVec3& getTargetVelocity(PxU32 i) const	{ return mContacts[i].targetVelocity;	}
+
+	/**
+	\brief Alter the target velocity of a specific contact point in the set.
+
+	@see PxModifiableContact.targetVelocity
+	*/
+	PX_FORCE_INLINE		void setTargetVelocity(PxU32 i, const PxVec3& v)
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->internalFlags |= PxContactPatch::eHAS_TARGET_VELOCITY;
+		mContacts[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 PxModifiableContact.internalFaceIndex0
+	*/
+	PX_FORCE_INLINE		PxU32 getInternalFaceIndex0(PxU32 i)			{ PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
+
+	/**
+	\brief Get the face index with respect to the second shape of the pair for a specific contact point in the set.
+
+	@see PxModifiableContact.internalFaceIndex1
+	*/
+	PX_FORCE_INLINE		PxU32 getInternalFaceIndex1(PxU32 i)			{ PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
+
+	/**
+	\brief Get the maximum impulse for a specific contact point in the set.
+
+	@see PxModifiableContact.maxImpulse
+	*/
+	PX_FORCE_INLINE		PxReal getMaxImpulse(PxU32 i) const				{ return mContacts[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 PxModifiableContact.maxImpulse
+	*/
+	PX_FORCE_INLINE		void setMaxImpulse(PxU32 i, PxReal s)			
+	{
+		PxContactPatch* patch = getPatch();
+		patch->internalFlags |= PxContactPatch::eHAS_MAX_IMPULSE;
+		mContacts[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)							{ mContacts[i].maxImpulse = 0.f; }
+
+	/**
+	\brief The number of contact points in the set.
+	*/
+	PX_FORCE_INLINE		PxU32 size() const								{ return mCount; }
+
+	/**
+	\brief Returns the invMassScale of body 0
+
+	A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact
+	treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.
+	*/
+	PX_FORCE_INLINE		PxReal getInvMassScale0() const					
+	{ 
+		PxContactPatch* patch = getPatch();
+		return patch->mMassModification.mInvMassScale0;
+	}
+
+	/**
+	\brief Returns the invMassScale of body 1
+
+	A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact
+	treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.
+	*/
+	PX_FORCE_INLINE		PxReal getInvMassScale1() const					
+	{ 
+		PxContactPatch* patch = getPatch();
+		return patch->mMassModification.mInvMassScale1;
+	}
+
+	/**
+	\brief Returns the invInertiaScale of body 0
+
+	A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact
+	treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.
+	*/
+	PX_FORCE_INLINE		PxReal getInvInertiaScale0() const					
+	{ 
+		PxContactPatch* patch = getPatch();
+		return patch->mMassModification.mInvInertiaScale0;
+	}
+
+	/**
+	\brief Returns the invInertiaScale of body 1
+
+	A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact
+	treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.
+	*/
+	PX_FORCE_INLINE		PxReal getInvInertiaScale1() const					
+	{ 
+		PxContactPatch* patch = getPatch();
+		return patch->mMassModification.mInvInertiaScale1;
+	}
+
+	/**
+	\brief Sets the invMassScale of body 0
+
+	This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact
+	treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.
+	*/
+	PX_FORCE_INLINE		void setInvMassScale0(const PxReal scale)					
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->mMassModification.mInvMassScale0 = scale;
+		patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+	}
+
+	/**
+	\brief Sets the invMassScale of body 1
+
+	This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger mass. A value of 0.f makes this contact
+	treat the body as if it had infinite mass. Any value > 1.f makes this contact treat the body as if it had smaller mass.
+	*/
+	PX_FORCE_INLINE		void setInvMassScale1(const PxReal scale)					
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->mMassModification.mInvMassScale1 = scale;
+		patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+	}
+
+	/**
+	\brief Sets the invInertiaScale of body 0
+
+	This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact
+	treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.
+	*/
+	PX_FORCE_INLINE		void setInvInertiaScale0(const PxReal scale)					
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->mMassModification.mInvInertiaScale0 = scale;
+		patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+	}
+
+	/**
+	\brief Sets the invInertiaScale of body 1
+
+	This can be set to any value in the range [0, PX_MAX_F32). A value < 1.0 makes this contact treat the body as if it had larger inertia. A value of 0.f makes this contact
+	treat the body as if it had infinite inertia. Any value > 1.f makes this contact treat the body as if it had smaller inertia.
+	*/
+	PX_FORCE_INLINE		void setInvInertiaScale1(const PxReal scale)					
+	{ 
+		PxContactPatch* patch = getPatch();
+		patch->mMassModification.mInvInertiaScale1 = scale;
+		patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+	}
+
+protected:
+
+	PX_FORCE_INLINE PxContactPatch* getPatch() const
+	{
+		const size_t headerOffset = sizeof(PxContactPatch)*mCount;
+		return reinterpret_cast<PxContactPatch*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
+	}
+
+	PxU32					mCount;			//!< Number of contact points in the set
+	PxModifiableContact*	mContacts;		//!< The contact points of the set
+};
+
+
+
+/**
+\brief An array of instances of this class is passed to PxContactModifyCallback::onContactModify().
+
+@see PxContactModifyCallback
+*/
+
+class PxContactModifyPair
+{
+public:
+
+	/**
+	\brief The actors which make up the pair in contact. 
+	
+	Note that these are the actors as seen by the simulation, and may have been deleted since the simulation step started.
+	*/
+
+	const PxRigidActor*		actor[2];
+	/**
+	\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(){}
+};
+
+/**
+\brief An interface class that the user can implement in order to modify CCD 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 PxCCDContactModifyCallback
+{
+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 onCCDContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
+
+protected:
+	virtual ~PxCCDContactModifyCallback(){}
+};
+
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif