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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.
#ifndef PX_PHYSICS_SCP_ITERATOR
#define PX_PHYSICS_SCP_ITERATOR
#include "foundation/PxVec3.h"
#include "PxContact.h"
namespace physx
{
class PxShape;
class PxsContactManagerOutputIterator;
namespace Sc
{
class ShapeSim;
class Interaction;
struct Contact
{
Contact()
: normal(0.0f)
, point(0.0f)
, separation(0.0f)
, normalForce(0.0f)
{}
PxVec3 normal;
PxVec3 point;
PxShape* shape0;
PxShape* shape1;
PxReal separation;
PxReal normalForce;
PxU32 faceIndex0; // these are the external indices
PxU32 faceIndex1;
bool normalForceAvailable;
};
class ContactIterator
{
public:
class Pair
{
public:
Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSim& shape0, ShapeSim& shape1);
Contact* getNextContact();
private:
PxU32 mIndex;
PxU32 mNumContacts;
PxContactStreamIterator mIter;
const PxReal* mForces;
Contact mCurrentContact;
ShapeSim* mShape0;
ShapeSim* mShape1;
};
ContactIterator() {}
explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
Pair* getNextPair();
private:
Interaction** mCurrent;
Interaction** mLast;
Pair mCurrentPair;
PxU32 mOffset;
PxsContactManagerOutputIterator* mOutputs;
private:
};
} // namespace Sc
}
#endif
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