NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxContactModifyCallback.h Source File

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+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 
+00031 #ifndef PX_CONTACT_MODIFY_CALLBACK
+00032 #define PX_CONTACT_MODIFY_CALLBACK
+00033 
+00037 #include "PxPhysXConfig.h"
+00038 #include "PxShape.h"
+00039 #include "PxContact.h"
+00040 #include "foundation/PxTransform.h"
+00041 
+00042 #if !PX_DOXYGEN
+00043 namespace physx
+00044 {
+00045 #endif
+00046 
+00047 class PxShape;
+00048 
+00061 class PxContactSet
+00062 {
+00063 public:
+00069     PX_FORCE_INLINE     const PxVec3& getPoint(PxU32 i) const           { return mContacts[i].contact;      }
+00070 
+00076     PX_FORCE_INLINE     void setPoint(PxU32 i, const PxVec3& p)         { mContacts[i].contact = p; }
+00077 
+00083     PX_FORCE_INLINE     const PxVec3& getNormal(PxU32 i) const          { return mContacts[i].normal;   }
+00084 
+00092     PX_FORCE_INLINE     void setNormal(PxU32 i, const PxVec3& n)        
+00093     { 
+00094         PxContactPatch* patch = getPatch();
+00095         patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
+00096         mContacts[i].normal = n;
+00097     }
+00098 
+00104     PX_FORCE_INLINE     PxReal getSeparation(PxU32 i) const             { return mContacts[i].separation;   }
+00105 
+00111     PX_FORCE_INLINE     void setSeparation(PxU32 i, PxReal s)           { mContacts[i].separation = s; }
+00112 
+00119     PX_FORCE_INLINE     const PxVec3& getTargetVelocity(PxU32 i) const  { return mContacts[i].targetVelocity;   }
+00120 
+00126     PX_FORCE_INLINE     void setTargetVelocity(PxU32 i, const PxVec3& v)
+00127     { 
+00128         PxContactPatch* patch = getPatch();
+00129         patch->internalFlags |= PxContactPatch::eHAS_TARGET_VELOCITY;
+00130         mContacts[i].targetVelocity = v;
+00131     }
+00132 
+00138     PX_FORCE_INLINE     PxU32 getInternalFaceIndex0(PxU32 i)            { PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
+00139 
+00145     PX_FORCE_INLINE     PxU32 getInternalFaceIndex1(PxU32 i)            { PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
+00146 
+00152     PX_FORCE_INLINE     PxReal getMaxImpulse(PxU32 i) const             { return mContacts[i].maxImpulse;   }
+00153 
+00161     PX_FORCE_INLINE     void setMaxImpulse(PxU32 i, PxReal s)           
+00162     {
+00163         PxContactPatch* patch = getPatch();
+00164         patch->internalFlags |= PxContactPatch::eHAS_MAX_IMPULSE;
+00165         mContacts[i].maxImpulse = s; 
+00166     }
+00167 
+00173     PX_FORCE_INLINE     void ignore(PxU32 i)                            { mContacts[i].maxImpulse = 0.f; }
+00174 
+00178     PX_FORCE_INLINE     PxU32 size() const                              { return mCount; }
+00179 
+00186     PX_FORCE_INLINE     PxReal getInvMassScale0() const                 
+00187     { 
+00188         PxContactPatch* patch = getPatch();
+00189         return patch->mMassModification.mInvMassScale0;
+00190     }
+00191 
+00198     PX_FORCE_INLINE     PxReal getInvMassScale1() const                 
+00199     { 
+00200         PxContactPatch* patch = getPatch();
+00201         return patch->mMassModification.mInvMassScale1;
+00202     }
+00203 
+00210     PX_FORCE_INLINE     PxReal getInvInertiaScale0() const                  
+00211     { 
+00212         PxContactPatch* patch = getPatch();
+00213         return patch->mMassModification.mInvInertiaScale0;
+00214     }
+00215 
+00222     PX_FORCE_INLINE     PxReal getInvInertiaScale1() const                  
+00223     { 
+00224         PxContactPatch* patch = getPatch();
+00225         return patch->mMassModification.mInvInertiaScale1;
+00226     }
+00227 
+00234     PX_FORCE_INLINE     void setInvMassScale0(const PxReal scale)                   
+00235     { 
+00236         PxContactPatch* patch = getPatch();
+00237         patch->mMassModification.mInvMassScale0 = scale;
+00238         patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+00239     }
+00240 
+00247     PX_FORCE_INLINE     void setInvMassScale1(const PxReal scale)                   
+00248     { 
+00249         PxContactPatch* patch = getPatch();
+00250         patch->mMassModification.mInvMassScale1 = scale;
+00251         patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+00252     }
+00253 
+00260     PX_FORCE_INLINE     void setInvInertiaScale0(const PxReal scale)                    
+00261     { 
+00262         PxContactPatch* patch = getPatch();
+00263         patch->mMassModification.mInvInertiaScale0 = scale;
+00264         patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+00265     }
+00266 
+00273     PX_FORCE_INLINE     void setInvInertiaScale1(const PxReal scale)                    
+00274     { 
+00275         PxContactPatch* patch = getPatch();
+00276         patch->mMassModification.mInvInertiaScale1 = scale;
+00277         patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
+00278     }
+00279 
+00280 protected:
+00281 
+00282     PX_FORCE_INLINE PxContactPatch* getPatch() const
+00283     {
+00284         const size_t headerOffset = sizeof(PxContactPatch)*mCount;
+00285         return reinterpret_cast<PxContactPatch*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
+00286     }
+00287 
+00288     PxU32                   mCount;         
+00289     PxModifiableContact*    mContacts;      
+00290 };
+00291 
+00292 
+00293 
+00300 class PxContactModifyPair
+00301 {
+00302 public:
+00303 
+00310     const PxRigidActor*     actor[2];
+00317     const PxShape*          shape[2];
+00318 
+00327     PxTransform             transform[2];
+00328 
+00333     PxContactSet            contacts;
+00334 };
+00335 
+00336 
+00355 class PxContactModifyCallback
+00356 {
+00357 public:
+00358 
+00369     virtual void onContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
+00370 
+00371 protected:
+00372     virtual ~PxContactModifyCallback(){}
+00373 };
+00374 
+00393 class PxCCDContactModifyCallback
+00394 {
+00395 public:
+00396 
+00407     virtual void onCCDContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
+00408 
+00409 protected:
+00410     virtual ~PxCCDContactModifyCallback(){}
+00411 };
+00412 
+00413 
+00414 #if !PX_DOXYGEN
+00415 } // namespace physx
+00416 #endif
+00417 
+00419 #endif
+