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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 GU_CONTACTMETHODIMPL_H
#define GU_CONTACTMETHODIMPL_H
#include "foundation/PxAssert.h"
#include "PxPhysXCommonConfig.h"
#include "CmPhysXCommon.h"
#include "collision/PxCollisionDefs.h"
namespace physx
{
namespace Cm
{
class RenderOutput;
}
namespace Gu
{
class GeometryUnion;
class ContactBuffer;
struct NarrowPhaseParams;
class PersistentContactManifold;
class MultiplePersistentContactManifold;
enum ManifoldFlags
{
IS_MANIFOLD = (1<<0),
IS_MULTI_MANIFOLD = (1<<1)
};
struct Cache : public PxCache
{
Cache()
{
}
PX_FORCE_INLINE void setManifold(void* manifold)
{
PX_ASSERT((size_t(manifold) & 0xF) == 0);
mCachedData = reinterpret_cast<PxU8*>(manifold);
mManifoldFlags |= IS_MANIFOLD;
}
PX_FORCE_INLINE void setMultiManifold(void* manifold)
{
PX_ASSERT((size_t(manifold) & 0xF) == 0);
mCachedData = reinterpret_cast<PxU8*>(manifold);
mManifoldFlags |= IS_MANIFOLD|IS_MULTI_MANIFOLD;
}
PX_FORCE_INLINE PxU8 isManifold() const
{
return PxU8(mManifoldFlags & IS_MANIFOLD);
}
PX_FORCE_INLINE PxU8 isMultiManifold() const
{
return PxU8(mManifoldFlags & IS_MULTI_MANIFOLD);
}
PX_FORCE_INLINE PersistentContactManifold& getManifold()
{
PX_ASSERT(isManifold());
PX_ASSERT(!isMultiManifold());
PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
return *reinterpret_cast<PersistentContactManifold*>(mCachedData);
}
PX_FORCE_INLINE MultiplePersistentContactManifold& getMultipleManifold()
{
PX_ASSERT(isManifold());
PX_ASSERT(isMultiManifold());
PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
return *reinterpret_cast<MultiplePersistentContactManifold*>(mCachedData);
}
};
}
#define GU_CONTACT_METHOD_ARGS \
const Gu::GeometryUnion& shape0, \
const Gu::GeometryUnion& shape1, \
const PxTransform& transform0, \
const PxTransform& transform1, \
const Gu::NarrowPhaseParams& params, \
Gu::Cache& cache, \
Gu::ContactBuffer& contactBuffer, \
Cm::RenderOutput* renderOutput
namespace Gu
{
PX_PHYSX_COMMON_API bool contactSphereSphere(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactSphereBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactCapsuleBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactBoxBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactBoxConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactConvexConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactSphereMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactBoxMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactConvexMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactSphereHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactCapsuleHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactBoxHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactConvexHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactSpherePlane(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactPlaneBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool contactPlaneConvex(GU_CONTACT_METHOD_ARGS);
//Legacy heightfield code path
PX_PHYSX_COMMON_API bool legacyContactSphereHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool legacyContactCapsuleHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool legacyContactBoxHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool legacyContactConvexHeightfield(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactPlaneConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSpherePlane(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactBoxBox(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS);
PX_PHYSX_COMMON_API bool pcmContactConvexConvex(GU_CONTACT_METHOD_ARGS);
}
}
#endif
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