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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 DY_CORRELATIONBUFFER_H
#define DY_CORRELATIONBUFFER_H
#include "PxvConfig.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "DyFrictionPatch.h"
#include "GuContactBuffer.h"
#include "foundation/PxBounds3.h"
namespace physx
{
struct PxcNpWorkUnit;
struct PxsMaterialInfo;
namespace Dy
{
struct CorrelationBuffer
{
static const PxU32 MAX_FRICTION_PATCHES = 32;
static const PxU16 LIST_END = 0xffff;
struct ContactPatchData
{
PxU16 start;
PxU16 next;
PxU8 flags;
PxU8 count;
PxReal staticFriction, dynamicFriction, restitution;
PxBounds3 patchBounds;
};
// we can have as many contact patches as contacts, unfortunately
ContactPatchData contactPatches[Gu::ContactBuffer::MAX_CONTACTS];
FrictionPatch PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);
PxVec3 PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
PxBounds3 patchBounds[MAX_FRICTION_PATCHES];
PxU32 frictionPatchContactCounts[MAX_FRICTION_PATCHES];
PxU32 correlationListHeads[MAX_FRICTION_PATCHES+1];
// contact IDs are only used to identify auxiliary contact data when velocity
// targets have been set.
PxU16 contactID[MAX_FRICTION_PATCHES][2];
PxU32 contactPatchCount, frictionPatchCount;
};
bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU32 contactCount, PxReal normalTolerance);
bool correlatePatches(CorrelationBuffer& fb,
const Gu::ContactPoint* cb,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxReal normalTolerance,
PxU32 startContactPatchIndex,
PxU32 startFrictionPatchIndex);
void growPatches(CorrelationBuffer& fb,
const Gu::ContactPoint* buffer,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxReal normalTolerance,
PxU32 frictionPatchStartIndex,
PxReal frictionOffsetThreshold);
}
}
#endif //DY_CORRELATIONBUFFER_H
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