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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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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