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<h1>PxContactModifyCallback.h</h1><a href="PxContactModifyCallback_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">//</span>
<a name="l00002"></a>00002 <span class="comment">// Redistribution and use in source and binary forms, with or without</span>
<a name="l00003"></a>00003 <span class="comment">// modification, are permitted provided that the following conditions</span>
<a name="l00004"></a>00004 <span class="comment">// are met:</span>
<a name="l00005"></a>00005 <span class="comment">// * Redistributions of source code must retain the above copyright</span>
<a name="l00006"></a>00006 <span class="comment">// notice, this list of conditions and the following disclaimer.</span>
<a name="l00007"></a>00007 <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00008"></a>00008 <span class="comment">// notice, this list of conditions and the following disclaimer in the</span>
<a name="l00009"></a>00009 <span class="comment">// documentation and/or other materials provided with the distribution.</span>
<a name="l00010"></a>00010 <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span>
<a name="l00011"></a>00011 <span class="comment">// contributors may be used to endorse or promote products derived</span>
<a name="l00012"></a>00012 <span class="comment">// from this software without specific prior written permission.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY</span>
<a name="l00015"></a>00015 <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span>
<a name="l00016"></a>00016 <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span>
<a name="l00017"></a>00017 <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span>
<a name="l00018"></a>00018 <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span>
<a name="l00019"></a>00019 <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span>
<a name="l00020"></a>00020 <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span>
<a name="l00021"></a>00021 <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span>
<a name="l00022"></a>00022 <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00023"></a>00023 <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span>
<a name="l00024"></a>00024 <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.</span>
<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PX_CONTACT_MODIFY_CALLBACK</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_CONTACT_MODIFY_CALLBACK</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="PxShape_8h.html">PxShape.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="PxContact_8h.html">PxContact.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="PxTransform_8h.html">foundation/PxTransform.h</a>"</span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="preprocessor">#endif</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="keyword">class </span><a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>;
<a name="l00048"></a>00048
<a name="l00061"></a><a class="code" href="classPxContactSet.html">00061</a> <span class="keyword">class </span><a class="code" href="classPxContactSet.html" title="An array of contact points, as passed to contact modification.">PxContactSet</a>
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 <span class="keyword">public</span>:
<a name="l00069"></a><a class="code" href="classPxContactSet.html#bf3a8b911e7d304ce1008b23bb575361">00069</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& <a class="code" href="classPxContactSet.html#bf3a8b911e7d304ce1008b23bb575361" title="Get the position of a specific contact point in the set.">getPoint</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].contact; }
<a name="l00070"></a>00070
<a name="l00076"></a><a class="code" href="classPxContactSet.html#21cfe31aa14065c8b3ee6390c312e178">00076</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxContactSet.html#21cfe31aa14065c8b3ee6390c312e178" title="Alter the position of a specific contact point in the set.">setPoint</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& p) { mContacts[i].contact = p; }
<a name="l00077"></a>00077
<a name="l00083"></a><a class="code" href="classPxContactSet.html#225b2714ca66ddb6cdf6c8a00664464e">00083</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& <a class="code" href="classPxContactSet.html#225b2714ca66ddb6cdf6c8a00664464e" title="Get the contact normal of a specific contact point in the set.">getNormal</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].normal; }
<a name="l00084"></a>00084
<a name="l00092"></a><a class="code" href="classPxContactSet.html#fdc45b285e1aaedd29690571b2098daa">00092</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setNormal(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& n)
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00095"></a>00095 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9e58c6eb59a2e441c78dbbdc831d375f4" title="This is required if the application modified either the contact normal or the material...">PxContactPatch::eREGENERATE_PATCHES</a>;
<a name="l00096"></a>00096 mContacts[i].normal = n;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00104"></a><a class="code" href="classPxContactSet.html#08bf7523401a88b6481ae49bedc858f3">00104</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxContactSet.html#08bf7523401a88b6481ae49bedc858f3" title="Get the separation of a specific contact point in the set.">getSeparation</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].separation; }
<a name="l00105"></a>00105
<a name="l00111"></a><a class="code" href="classPxContactSet.html#dd1b219393a21fdbb6e6db51400aa900">00111</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxContactSet.html#dd1b219393a21fdbb6e6db51400aa900" title="Alter the separation of a specific contact point in the set.">setSeparation</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> s) { mContacts[i].separation = s; }
<a name="l00112"></a>00112
<a name="l00119"></a><a class="code" href="classPxContactSet.html#25ab720b769e29f0a40aeb6bae693591">00119</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& <a class="code" href="classPxContactSet.html#25ab720b769e29f0a40aeb6bae693591" title="Get the target velocity of a specific contact point in the set.">getTargetVelocity</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].targetVelocity; }
<a name="l00120"></a>00120
<a name="l00126"></a><a class="code" href="classPxContactSet.html#2e374d99ff72fcf410a070ee3bf17abb">00126</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setTargetVelocity(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& v)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00129"></a>00129 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9caf67d93398b35860d340dd017b13d43" title="Indicates this contact stream has target velocities set.">PxContactPatch::eHAS_TARGET_VELOCITY</a>;
<a name="l00130"></a>00130 mContacts[i].targetVelocity = v;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00138"></a><a class="code" href="classPxContactSet.html#02f160a1a9135d6d7f1e5f77557ce63e">00138</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> <a class="code" href="classPxContactSet.html#02f160a1a9135d6d7f1e5f77557ce63e" title="Get the face index with respect to the first shape of the pair for a specific contact...">getInternalFaceIndex0</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i) { <a class="code" href="group__foundation.html#g3b618390d8743c532c4131cb931df43a">PX_UNUSED</a>(i); <span class="keywordflow">return</span> <a class="code" href="PxContact_8h.html#d7d63e592ac0d23d42e12e10572039fe">PXC_CONTACT_NO_FACE_INDEX</a>; }
<a name="l00139"></a>00139
<a name="l00145"></a><a class="code" href="classPxContactSet.html#6535e80819a6d2a5bbe38db6aa86684e">00145</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> getInternalFaceIndex1(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00148"></a>00148 <span class="keywordflow">if</span> (patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> & <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9f45f36084b23d060d8d68255a5493da5" title="Indicates this contact stream has face indices.">PxContactPatch::eHAS_FACE_INDICES</a>)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="keywordflow">return</span> <span class="keyword">reinterpret_cast<</span><a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>*<span class="keyword">></span>(mContacts + mCount)[mCount + i];
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 <span class="keywordflow">return</span> <a class="code" href="PxContact_8h.html#d7d63e592ac0d23d42e12e10572039fe">PXC_CONTACT_NO_FACE_INDEX</a>;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00160"></a><a class="code" href="classPxContactSet.html#cfe031fe04223af2e28b026d125a6d41">00160</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxContactSet.html#cfe031fe04223af2e28b026d125a6d41" title="Get the maximum impulse for a specific contact point in the set.">getMaxImpulse</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].maxImpulse; }
<a name="l00161"></a>00161
<a name="l00169"></a><a class="code" href="classPxContactSet.html#145d98e983e46057f0fa57903f671c06">00169</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setMaxImpulse(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> s)
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00172"></a>00172 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb99e30c7fa533ce8776828ca9908126991" title="Indicates this contact stream has max impulses set.">PxContactPatch::eHAS_MAX_IMPULSE</a>;
<a name="l00173"></a>00173 mContacts[i].maxImpulse = s;
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00181"></a><a class="code" href="classPxContactSet.html#643d2c1eb96b29b8119e11e04828c26e">00181</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxContactSet.html#643d2c1eb96b29b8119e11e04828c26e" title="Get the restitution coefficient for a specific contact point in the set.">getRestitution</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].restitution; }
<a name="l00182"></a>00182
<a name="l00190"></a><a class="code" href="classPxContactSet.html#2c1f31f9201c804d6310ec0129cc0cea">00190</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setRestitution(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> r)
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00193"></a>00193 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9e58c6eb59a2e441c78dbbdc831d375f4" title="This is required if the application modified either the contact normal or the material...">PxContactPatch::eREGENERATE_PATCHES</a>;
<a name="l00194"></a>00194 mContacts[i].restitution = r;
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196
<a name="l00202"></a><a class="code" href="classPxContactSet.html#45700551793a60bff49adfb4775b5820">00202</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxContactSet.html#45700551793a60bff49adfb4775b5820" title="Get the static friction coefficient for a specific contact point in the set.">getStaticFriction</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].staticFriction; }
<a name="l00203"></a>00203
<a name="l00209"></a><a class="code" href="classPxContactSet.html#8c585855a8936d762520b1d1471bf3fe">00209</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setStaticFriction(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> f)
<a name="l00210"></a>00210 {
<a name="l00211"></a>00211 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00212"></a>00212 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9e58c6eb59a2e441c78dbbdc831d375f4" title="This is required if the application modified either the contact normal or the material...">PxContactPatch::eREGENERATE_PATCHES</a>;
<a name="l00213"></a>00213 mContacts[i].staticFriction = f;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215
<a name="l00221"></a><a class="code" href="classPxContactSet.html#70f975199ee66a0df4bf037cc8e10f3c">00221</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="classPxContactSet.html#70f975199ee66a0df4bf037cc8e10f3c" title="Get the static friction coefficient for a specific contact point in the set.">getDynamicFriction</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mContacts[i].dynamicFriction; }
<a name="l00222"></a>00222
<a name="l00228"></a><a class="code" href="classPxContactSet.html#360344f51cce5d01c69701e3dcc3747b">00228</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setDynamicFriction(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> f)
<a name="l00229"></a>00229 {
<a name="l00230"></a>00230 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00231"></a>00231 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb9e58c6eb59a2e441c78dbbdc831d375f4" title="This is required if the application modified either the contact normal or the material...">PxContactPatch::eREGENERATE_PATCHES</a>;
<a name="l00232"></a>00232 mContacts[i].dynamicFriction = f;
<a name="l00233"></a>00233 }
<a name="l00234"></a>00234
<a name="l00240"></a><a class="code" href="classPxContactSet.html#930b0b6a5450e9b2e83634d6803f4045">00240</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classPxContactSet.html#930b0b6a5450e9b2e83634d6803f4045" title="Ignore the contact point.">ignore</a>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i) { mContacts[i].maxImpulse = 0.f; }
<a name="l00241"></a>00241
<a name="l00245"></a><a class="code" href="classPxContactSet.html#63434463f6bea994645e3dcbdc2cf2d0">00245</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> <a class="code" href="classPxContactSet.html#63434463f6bea994645e3dcbdc2cf2d0" title="The number of contact points in the set.">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> mCount; }
<a name="l00246"></a>00246
<a name="l00253"></a><a class="code" href="classPxContactSet.html#8179bfc84e3433909eb82553ddd9afeb">00253</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getInvMassScale0()<span class="keyword"> const </span>
<a name="l00254"></a>00254 <span class="keyword"> </span>{
<a name="l00255"></a>00255 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00256"></a>00256 <span class="keywordflow">return</span> patch->mMassModification.mInvMassScale0;
<a name="l00257"></a>00257 }
<a name="l00258"></a>00258
<a name="l00265"></a><a class="code" href="classPxContactSet.html#23297c2c731c90d482a6553140b3afb6">00265</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getInvMassScale1()<span class="keyword"> const </span>
<a name="l00266"></a>00266 <span class="keyword"> </span>{
<a name="l00267"></a>00267 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00268"></a>00268 <span class="keywordflow">return</span> patch->mMassModification.mInvMassScale1;
<a name="l00269"></a>00269 }
<a name="l00270"></a>00270
<a name="l00277"></a><a class="code" href="classPxContactSet.html#107184e5d6bbd33e445ca52de23c4016">00277</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getInvInertiaScale0()<span class="keyword"> const </span>
<a name="l00278"></a>00278 <span class="keyword"> </span>{
<a name="l00279"></a>00279 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00280"></a>00280 <span class="keywordflow">return</span> patch->mMassModification.mInvInertiaScale0;
<a name="l00281"></a>00281 }
<a name="l00282"></a>00282
<a name="l00289"></a><a class="code" href="classPxContactSet.html#4ce891dceb271dab78a4d9001de5c95b">00289</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getInvInertiaScale1()<span class="keyword"> const </span>
<a name="l00290"></a>00290 <span class="keyword"> </span>{
<a name="l00291"></a>00291 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00292"></a>00292 <span class="keywordflow">return</span> patch->mMassModification.mInvInertiaScale1;
<a name="l00293"></a>00293 }
<a name="l00294"></a>00294
<a name="l00301"></a><a class="code" href="classPxContactSet.html#74648acc75bce20cfd555e76298b514f">00301</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setInvMassScale0(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)
<a name="l00302"></a>00302 {
<a name="l00303"></a>00303 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00304"></a>00304 patch->mMassModification.mInvMassScale0 = scale;
<a name="l00305"></a>00305 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb90b3667ec3f96024527acc84fc850cbb1" title="Indicates this contact stream has modified mass ratios.">PxContactPatch::eHAS_MODIFIED_MASS_RATIOS</a>;
<a name="l00306"></a>00306 }
<a name="l00307"></a>00307
<a name="l00314"></a><a class="code" href="classPxContactSet.html#d77be76292fb196ff129d70c372c5d97">00314</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setInvMassScale1(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)
<a name="l00315"></a>00315 {
<a name="l00316"></a>00316 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00317"></a>00317 patch->mMassModification.mInvMassScale1 = scale;
<a name="l00318"></a>00318 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb90b3667ec3f96024527acc84fc850cbb1" title="Indicates this contact stream has modified mass ratios.">PxContactPatch::eHAS_MODIFIED_MASS_RATIOS</a>;
<a name="l00319"></a>00319 }
<a name="l00320"></a>00320
<a name="l00327"></a><a class="code" href="classPxContactSet.html#e145d9eec7403316390478f401837dcf">00327</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setInvInertiaScale0(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)
<a name="l00328"></a>00328 {
<a name="l00329"></a>00329 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00330"></a>00330 patch->mMassModification.mInvInertiaScale0 = scale;
<a name="l00331"></a>00331 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb90b3667ec3f96024527acc84fc850cbb1" title="Indicates this contact stream has modified mass ratios.">PxContactPatch::eHAS_MODIFIED_MASS_RATIOS</a>;
<a name="l00332"></a>00332 }
<a name="l00333"></a>00333
<a name="l00340"></a><a class="code" href="classPxContactSet.html#74a22b5ae3140aba546b66415427a7d5">00340</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> setInvInertiaScale1(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)
<a name="l00341"></a>00341 {
<a name="l00342"></a>00342 <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* patch = getPatch();
<a name="l00343"></a>00343 patch->mMassModification.mInvInertiaScale1 = scale;
<a name="l00344"></a>00344 patch-><a class="code" href="structPxContactPatch.html#6dd6eed1e599102e1c2cc16fab3a5ddb">internalFlags</a> |= <a class="code" href="structPxContactPatch.html#704320591170cbad6698b74b5d1d9eb90b3667ec3f96024527acc84fc850cbb1" title="Indicates this contact stream has modified mass ratios.">PxContactPatch::eHAS_MODIFIED_MASS_RATIOS</a>;
<a name="l00345"></a>00345 }
<a name="l00346"></a>00346
<a name="l00347"></a>00347 <span class="keyword">protected</span>:
<a name="l00348"></a>00348
<a name="l00349"></a><a class="code" href="classPxContactSet.html#0aef84a136055ad90c1af8a53f2fe8a8">00349</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>* getPatch()<span class="keyword"> const</span>
<a name="l00350"></a>00350 <span class="keyword"> </span>{
<a name="l00351"></a>00351 <span class="keyword">const</span> <span class="keywordtype">size_t</span> headerOffset = <span class="keyword">sizeof</span>(<a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>)*mCount;
<a name="l00352"></a>00352 <span class="keywordflow">return</span> <span class="keyword">reinterpret_cast<</span><a class="code" href="structPxContactPatch.html" title="Header for contact patch where all points share same material and normal.">PxContactPatch</a>*<span class="keyword">></span>(<span class="keyword">reinterpret_cast<</span><a class="code" href="namespacephysx.html#3849f86abc21d3a58949481603fe8309">PxU8</a>*<span class="keyword">></span>(mContacts) - headerOffset);
<a name="l00353"></a>00353 }
<a name="l00354"></a>00354
<a name="l00355"></a><a class="code" href="classPxContactSet.html#fcc7a677fe3cf662ebab5a49f5a454b9">00355</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> mCount;
<a name="l00356"></a><a class="code" href="classPxContactSet.html#614a3d5bbdfe9fccce114e0ce64913a8">00356</a> <a class="code" href="structPxModifiableContact.html" title="A modifiable contact point. This has additional fields per-contact to permit modification...">PxModifiableContact</a>* mContacts;
<a name="l00357"></a>00357 };
<a name="l00358"></a>00358
<a name="l00359"></a>00359
<a name="l00360"></a>00360
<a name="l00367"></a><a class="code" href="classPxContactModifyPair.html">00367</a> <span class="keyword">class </span><a class="code" href="classPxContactModifyPair.html" title="An array of instances of this class is passed to PxContactModifyCallback::onContactModify()...">PxContactModifyPair</a>
<a name="l00368"></a>00368 {
<a name="l00369"></a>00369 <span class="keyword">public</span>:
<a name="l00370"></a>00370
<a name="l00377"></a><a class="code" href="classPxContactModifyPair.html#5102f62e13acc449f81670353cdac114">00377</a> <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>* actor[2];
<a name="l00384"></a><a class="code" href="classPxContactModifyPair.html#e562e272dd6588e55139200aed047c38">00384</a> <span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>* shape[2];
<a name="l00385"></a>00385
<a name="l00394"></a><a class="code" href="classPxContactModifyPair.html#8d6715a77c2fb18a8ee9906813149d22">00394</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> transform[2];
<a name="l00395"></a>00395
<a name="l00400"></a><a class="code" href="classPxContactModifyPair.html#9266a6cd1e9604f2bc6f7104064bb388">00400</a> <a class="code" href="classPxContactSet.html" title="An array of contact points, as passed to contact modification.">PxContactSet</a> contacts;
<a name="l00401"></a>00401 };
<a name="l00402"></a>00402
<a name="l00403"></a>00403
<a name="l00422"></a><a class="code" href="classPxContactModifyCallback.html">00422</a> <span class="keyword">class </span><a class="code" href="classPxContactModifyCallback.html" title="An interface class that the user can implement in order to modify contact constraints...">PxContactModifyCallback</a>
<a name="l00423"></a>00423 {
<a name="l00424"></a>00424 <span class="keyword">public</span>:
<a name="l00425"></a>00425
<a name="l00436"></a>00436 <span class="keyword">virtual</span> <span class="keywordtype">void</span> onContactModify(<a class="code" href="classPxContactModifyPair.html" title="An array of instances of this class is passed to PxContactModifyCallback::onContactModify()...">PxContactModifyPair</a>* <span class="keyword">const</span> pairs, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> count) = 0;
<a name="l00437"></a>00437
<a name="l00438"></a>00438 <span class="keyword">protected</span>:
<a name="l00439"></a><a class="code" href="classPxContactModifyCallback.html#d6c57abf114d4c594973c2d365a98b6f">00439</a> <span class="keyword">virtual</span> <a class="code" href="classPxContactModifyCallback.html#d6c57abf114d4c594973c2d365a98b6f">~PxContactModifyCallback</a>(){}
<a name="l00440"></a>00440 };
<a name="l00441"></a>00441
<a name="l00460"></a><a class="code" href="classPxCCDContactModifyCallback.html">00460</a> <span class="keyword">class </span><a class="code" href="classPxCCDContactModifyCallback.html" title="An interface class that the user can implement in order to modify CCD contact constraints...">PxCCDContactModifyCallback</a>
<a name="l00461"></a>00461 {
<a name="l00462"></a>00462 <span class="keyword">public</span>:
<a name="l00463"></a>00463
<a name="l00474"></a>00474 <span class="keyword">virtual</span> <span class="keywordtype">void</span> onCCDContactModify(<a class="code" href="classPxContactModifyPair.html" title="An array of instances of this class is passed to PxContactModifyCallback::onContactModify()...">PxContactModifyPair</a>* <span class="keyword">const</span> pairs, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> count) = 0;
<a name="l00475"></a>00475
<a name="l00476"></a>00476 <span class="keyword">protected</span>:
<a name="l00477"></a><a class="code" href="classPxCCDContactModifyCallback.html#323e56a126465efff8afccade4d72642">00477</a> <span class="keyword">virtual</span> <a class="code" href="classPxCCDContactModifyCallback.html#323e56a126465efff8afccade4d72642">~PxCCDContactModifyCallback</a>(){}
<a name="l00478"></a>00478 };
<a name="l00479"></a>00479
<a name="l00480"></a>00480
<a name="l00481"></a>00481 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00482"></a>00482 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
<a name="l00483"></a>00483 <span class="preprocessor">#endif</span>
<a name="l00484"></a>00484 <span class="preprocessor"></span>
<a name="l00486"></a>00486 <span class="preprocessor">#endif</span>
</pre></div></div>
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