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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 PXC_NPWORKUNIT_H
#define PXC_NPWORKUNIT_H
#include "PxcNpThreadContext.h"
#include "PxcMaterialMethodImpl.h"
#include "PxcNpCache.h"
namespace physx
{
class PxvContact;
struct PxsRigidCore;
struct PxsShapeCore;
class PxsMaterialManager;
struct PxcNpWorkUnitFlag
{
enum Enum
{
eOUTPUT_CONTACTS = 1,
eOUTPUT_CONSTRAINTS = 2,
eDISABLE_STRONG_FRICTION = 4,
eARTICULATION_BODY0 = 8,
eARTICULATION_BODY1 = 16,
eDYNAMIC_BODY0 = 32,
eDYNAMIC_BODY1 = 64,
eMODIFIABLE_CONTACT = 128,
eFORCE_THRESHOLD = 256,
eDETECT_DISCRETE_CONTACT = 512,
eHAS_KINEMATIC_ACTOR = 1024,
eDISABLE_RESPONSE = 2048,
eDETECT_CCD_CONTACTS = 4096
};
};
struct PxcNpWorkUnitStatusFlag
{
enum Enum
{
eHAS_NO_TOUCH = (1 << 0),
eHAS_TOUCH = (1 << 1),
//eHAS_SOLVER_CONSTRAINTS = (1 << 2),
eREQUEST_CONSTRAINTS = (1 << 3),
eHAS_CCD_RETOUCH = (1 << 4), // Marks pairs that are touching at a CCD pass and were touching at discrete collision or at a previous CCD pass already
// but we can not tell whether they lost contact in a pass before. We send them as pure eNOTIFY_TOUCH_CCD events to the
// contact report callback if requested.
eDIRTY_MANAGER = (1 << 5),
eREFRESHED_WITH_TOUCH = (1 << 6),
eTOUCH_KNOWN = eHAS_NO_TOUCH | eHAS_TOUCH // The touch status is known (if narrowphase never ran for a pair then no flag will be set)
};
};
/*
* A struct to record the number of work units a particular constraint pointer references.
* This is created at the beginning of the constriant data and is used to bypass constraint preparation when the
* bodies are not moving a lot. In this case, we can recycle the constraints and save ourselves some cycles.
*/
struct PxcNpWorkUnit;
struct PxcNpWorkUnitBatch
{
PxcNpWorkUnit* mUnits[4];
PxU32 mSize;
};
struct PxcNpWorkUnit
{
const PxsRigidCore* rigidCore0; // INPUT //4 //8
const PxsRigidCore* rigidCore1; // INPUT //8 //16
const PxsShapeCore* shapeCore0; // INPUT //12 //24
const PxsShapeCore* shapeCore1; // INPUT //16 //32
PxU8* ccdContacts; // OUTPUT //20 //40
PxU8* frictionDataPtr; // INOUT //24 //48
PxU16 flags; // INPUT //26 //50
PxU8 frictionPatchCount; // INOUT //27 //51
PxU8 statusFlags; // OUTPUT (see PxcNpWorkUnitStatusFlag) //28 //52
PxU8 dominance0; // INPUT //29 //53
PxU8 dominance1; // INPUT //30 //54
PxU8 geomType0; // INPUT //31 //55
PxU8 geomType1; // INPUT //32 //56
PxU32 index; // INPUT //36 //60
PxReal restDistance; // INPUT //40 //64
PxU32 mTransformCache0; // //44 //68
PxU32 mTransformCache1; // //48 //72
PxU32 mEdgeIndex; //inout the island gen edge index //52 //76
PxU32 mNpIndex; //INPUT //56 //80
};
//#if !defined(PX_P64)
//PX_COMPILE_TIME_ASSERT(0 == (sizeof(PxcNpWorkUnit) & 0x0f));
//#endif
PX_FORCE_INLINE void PxcNpWorkUnitClearContactState(PxcNpWorkUnit& n)
{
n.ccdContacts = NULL;
}
PX_FORCE_INLINE void PxcNpWorkUnitClearCachedState(PxcNpWorkUnit& n)
{
n.frictionDataPtr = 0;
n.frictionPatchCount = 0;
n.ccdContacts = NULL;
}
PX_FORCE_INLINE void PxcNpWorkUnitClearFrictionCachedState(PxcNpWorkUnit& n)
{
n.frictionDataPtr = 0;
n.frictionPatchCount = 0;
n.ccdContacts = NULL;
}
#if !defined(PX_P64)
//PX_COMPILE_TIME_ASSERT(sizeof(PxcNpWorkUnit)==128);
#endif
}
#endif
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