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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 PXV_MANAGER_H
#define PXV_MANAGER_H
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxMemory.h"
#include "PxvConfig.h"
#include "PxvGeometry.h"
namespace physx
{
class PxvContact;
/*!
\file
Manager interface
*/
/************************************************************************/
/* Managers */
/************************************************************************/
class PxsContactManager;
class PxsContext;
struct PxsRigidCore;
struct PxsShapeCore;
/*!
Type of PXD_MANAGER_CCD_MODE property
*/
enum PxvContactManagerCCDMode
{
PXD_MANAGER_CCD_NONE,
PXD_MANAGER_CCD_LINEAR
};
/*!
Manager descriptor
*/
struct PxvManagerDescRigidRigid
{
/*!
Manager user data
\sa PXD_MANAGER_USER_DATA
*/
//void* userData;
/*!
Dominance setting for one way interactions.
A dominance of 0 means the corresp. body will
not be pushable by the other body in the constraint.
\sa PXD_MANAGER_DOMINANCE0
*/
PxU8 dominance0;
/*!
Dominance setting for one way interactions.
A dominance of 0 means the corresp. body will
not be pushable by the other body in the constraint.
\sa PXD_MANAGER_DOMINANCE1
*/
PxU8 dominance1;
/*!
PxsRigidBodies
*/
PxsRigidBody* rigidBody0;
PxsRigidBody* rigidBody1;
/*!
Shape Core structures
*/
const PxsShapeCore* shapeCore0;
const PxsShapeCore* shapeCore1;
/*!
Body Core structures
*/
PxsRigidCore* rigidCore0;
PxsRigidCore* rigidCore1;
/*!
Enable contact information reporting.
*/
int reportContactInfo;
/*!
Enable contact impulse threshold reporting.
*/
int hasForceThreshold;
/*!
Enable generated contacts to be changeable
*/
int contactChangeable;
/*!
Disable strong friction
*/
//int disableStrongFriction;
/*!
Contact resolution rest distance.
*/
PxReal restDistance;
/*!
Disable contact response
*/
int disableResponse;
/*!
Disable discrete contact generation
*/
int disableDiscreteContact;
/*!
Disable CCD contact generation
*/
int disableCCDContact;
/*!
Is connected to an articulation (1 - first body, 2 - second body)
*/
int hasArticulations;
/*!
is connected to a dynamic (1 - first body, 2 - second body)
*/
int hasDynamics;
/*!
Is the pair touching? Use when re-creating the manager with prior knowledge about touch status.
positive: pair is touching
0: touch state unknown (this is a new pair)
negative: pair is not touching
Default is 0
*/
int hasTouch;
/*!
Identifies whether body 1 is kinematic. We can treat kinematics as statics and embed velocity into constraint
because kinematic bodies' velocities will not change
*/
bool body1Kinematic;
/*
Index entries into the transform cache for shape 0
*/
PxU32 transformCache0;
/*
Index entries into the transform cache for shape 1
*/
PxU32 transformCache1;
PxvManagerDescRigidRigid()
{
PxMemSet(this, 0, sizeof(PxvManagerDescRigidRigid));
dominance0 = 1u;
dominance1 = 1u;
}
};
/*!
Report struct for contact manager touch reports
*/
struct PxvContactManagerTouchEvent
{
/*!
Manager handle
*/
PxsContactManager* manager;
/*!
Manager userdata
*/
void* userData;
};
}
#endif
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