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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.
#include "PxGeometry.h"
#include "PxcContactMethodImpl.h"
namespace physx
{
// PT: those prototypes shouldn't be public. Keep them here.
// Sphere - other
bool PxcContactSphereSphere (GU_CONTACT_METHOD_ARGS);
bool PxcContactSpherePlane (GU_CONTACT_METHOD_ARGS);
bool PxcContactSphereCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcContactSphereBox (GU_CONTACT_METHOD_ARGS);
bool PxcContactSphereConvex (GU_CONTACT_METHOD_ARGS);
bool PxcContactSphereMesh (GU_CONTACT_METHOD_ARGS);
bool PxcContactSphereHeightField (GU_CONTACT_METHOD_ARGS);
// Plane - other
bool PxcContactPlaneCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcContactPlaneBox (GU_CONTACT_METHOD_ARGS);
bool PxcContactPlaneConvex (GU_CONTACT_METHOD_ARGS);
// Capsule - other
bool PxcContactCapsuleCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcContactCapsuleBox (GU_CONTACT_METHOD_ARGS);
bool PxcContactCapsuleConvex (GU_CONTACT_METHOD_ARGS);
bool PxcContactCapsuleMesh (GU_CONTACT_METHOD_ARGS);
bool PxcContactCapsuleHeightField (GU_CONTACT_METHOD_ARGS);
// Box - other
bool PxcContactBoxBox (GU_CONTACT_METHOD_ARGS);
bool PxcContactBoxConvex (GU_CONTACT_METHOD_ARGS);
bool PxcContactBoxMesh (GU_CONTACT_METHOD_ARGS);
bool PxcContactBoxHeightField (GU_CONTACT_METHOD_ARGS);
// Convex - other
bool PxcContactConvexConvex (GU_CONTACT_METHOD_ARGS);
bool PxcContactConvexMesh (GU_CONTACT_METHOD_ARGS);
bool PxcContactConvexHeightField (GU_CONTACT_METHOD_ARGS);
static bool PxcInvalidContactPair (CONTACT_METHOD_ARGS_UNUSED)
{
return false;
}
//PCM Sphere - other
bool PxcPCMContactSphereSphere (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSpherePlane (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSphereBox (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSphereCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSphereConvex (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSphereMesh (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactSphereHeightField (GU_CONTACT_METHOD_ARGS);
// Plane - other
bool PxcPCMContactPlaneCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactPlaneBox (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactPlaneConvex (GU_CONTACT_METHOD_ARGS);
//PCM Capsule - other
bool PxcPCMContactCapsuleCapsule (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactCapsuleBox (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactCapsuleConvex (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactCapsuleMesh (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactCapsuleHeightField (GU_CONTACT_METHOD_ARGS);
//PCM Box - other
bool PxcPCMContactBoxBox (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactBoxConvex (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactBoxMesh (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactBoxHeightField (GU_CONTACT_METHOD_ARGS);
//PCM Convex
bool PxcPCMContactConvexConvex (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactConvexMesh (GU_CONTACT_METHOD_ARGS);
bool PxcPCMContactConvexHeightField (GU_CONTACT_METHOD_ARGS);
#define DYNAMIC_CONTACT_REGISTRATION(x) PxcInvalidContactPair
//#define DYNAMIC_CONTACT_REGISTRATION(x) x
//Table of contact methods for different shape-type combinations
PxcContactMethod g_ContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] =
{
//PxGeometryType::eSPHERE
{
PxcContactSphereSphere, //PxGeometryType::eSPHERE
PxcContactSpherePlane, //PxGeometryType::ePLANE
PxcContactSphereCapsule, //PxGeometryType::eCAPSULE
PxcContactSphereBox, //PxGeometryType::eBOX
PxcContactSphereConvex, //PxGeometryType::eCONVEXMESH
PxcContactSphereMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcContactSphereHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::ePLANE
{
0, //PxGeometryType::eSPHERE
PxcInvalidContactPair, //PxGeometryType::ePLANE
PxcContactPlaneCapsule, //PxGeometryType::eCAPSULE
PxcContactPlaneBox, //PxGeometryType::eBOX
PxcContactPlaneConvex, //PxGeometryType::eCONVEXMESH
PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eCAPSULE
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
PxcContactCapsuleCapsule, //PxGeometryType::eCAPSULE
PxcContactCapsuleBox, //PxGeometryType::eBOX
PxcContactCapsuleConvex, //PxGeometryType::eCONVEXMESH
PxcContactCapsuleMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcContactCapsuleHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eBOX
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
PxcContactBoxBox, //PxGeometryType::eBOX
PxcContactBoxConvex, //PxGeometryType::eCONVEXMESH
PxcContactBoxMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcContactBoxHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eCONVEXMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
PxcContactConvexConvex, //PxGeometryType::eCONVEXMESH
PxcContactConvexMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcContactConvexHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eTRIANGLEMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eHEIGHTFIELD
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
0, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
};
//#if PERSISTENT_CONTACT_MANIFOLD
//Table of contact methods for different shape-type combinations
PxcContactMethod g_PCMContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] =
{
//PxGeometryType::eSPHERE
{
PxcPCMContactSphereSphere, //PxGeometryType::eSPHERE
PxcPCMContactSpherePlane, //PxGeometryType::ePLANE
PxcPCMContactSphereCapsule, //PxGeometryType::eCAPSULE
PxcPCMContactSphereBox, //PxGeometryType::eBOX
PxcPCMContactSphereConvex, //PxGeometryType::eCONVEXMESH
PxcPCMContactSphereMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactSphereHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::ePLANE
{
0, //PxGeometryType::eSPHERE
PxcInvalidContactPair, //PxGeometryType::ePLANE
PxcPCMContactPlaneCapsule, //PxGeometryType::eCAPSULE
PxcPCMContactPlaneBox, //PxGeometryType::eBOX
PxcPCMContactPlaneConvex, //PxGeometryType::eCONVEXMESH
PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eCAPSULE
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
PxcPCMContactCapsuleCapsule, //PxGeometryType::eCAPSULE
PxcPCMContactCapsuleBox, //PxGeometryType::eBOX
PxcPCMContactCapsuleConvex, //PxGeometryType::eCONVEXMESH
PxcPCMContactCapsuleMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactCapsuleHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eBOX
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
PxcPCMContactBoxBox, //PxGeometryType::eBOX
PxcPCMContactBoxConvex, //PxGeometryType::eCONVEXMESH
PxcPCMContactBoxMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactBoxHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eCONVEXMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
PxcPCMContactConvexConvex, //PxGeometryType::eCONVEXMESH
PxcPCMContactConvexMesh, //PxGeometryType::eTRIANGLEMESH
DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactConvexHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
},
//PxGeometryType::eTRIANGLEMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eHEIGHTFIELD
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
0, //PxGeometryType::eTRIANGLEMESH
PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
},
};
}
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