1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
|
//
// 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 PX_PHYSICS_SCP_INTERACTION
#define PX_PHYSICS_SCP_INTERACTION
#include "foundation/Px.h"
#include "ScInteractionFlags.h"
#include "ScScene.h"
#include "ScActorSim.h"
#include "PsUserAllocated.h"
#include "PsUtilities.h"
#include "PsFoundation.h"
namespace physx
{
#define PX_INVALID_INTERACTION_ACTOR_ID 0xffffffff
#define PX_INVALID_INTERACTION_SCENE_ID 0xffffffff
namespace Sc
{
// Interactions are used for connecting actors into activation
// groups. An interaction always connects exactly two actors.
// An interaction is implicitly active if at least one of the two
// actors it connects is active.
class Interaction : public Ps::UserAllocated
{
PX_NOCOPY(Interaction)
protected:
Interaction(ActorSim& actor0, ActorSim& actor1, InteractionType::Enum interactionType, PxU8 flags);
virtual ~Interaction() { PX_ASSERT(!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST)); }
public:
// Interactions automatically register themselves in the actors here
PX_FORCE_INLINE bool registerInActors(void* data = NULL);
// Interactions automatically unregister themselves from the actors here
PX_FORCE_INLINE void unregisterFromActors();
PX_FORCE_INLINE ActorSim& getActor0() const { return mActor0; }
PX_FORCE_INLINE ActorSim& getActor1() const { return mActor1; }
PX_FORCE_INLINE Scene& getScene() const { return mActor0.getScene(); }
// PT: TODO: why do we have both virtual functions AND a type in there?
PX_FORCE_INLINE InteractionType::Enum getType() const { return InteractionType::Enum(mInteractionType); }
PX_FORCE_INLINE PxU8 readInteractionFlag(PxU8 flag) const { return PxU8(mInteractionFlags & flag); }
PX_FORCE_INLINE void raiseInteractionFlag(InteractionFlag::Enum flag) { mInteractionFlags |= flag; }
PX_FORCE_INLINE void clearInteractionFlag(InteractionFlag::Enum flag) { mInteractionFlags &= ~flag; }
PX_FORCE_INLINE bool isRegistered() const { return mSceneId != PX_INVALID_INTERACTION_SCENE_ID; }
/**
\brief Mark the interaction as dirty. This will put the interaction into a list that is processed once per simulation step.
@see InteractionDirtyFlag
*/
PX_FORCE_INLINE void setDirty(PxU32 dirtyFlags);
/**
\brief Clear all flags that mark the interaction as dirty and optionally remove the interaction from the list of dirty interactions.
@see InteractionDirtyFlag
*/
/*PX_FORCE_INLINE*/ void setClean(bool removeFromList);
PX_FORCE_INLINE Ps::IntBool needsRefiltering() const { return (getDirtyFlags() & InteractionDirtyFlag::eFILTER_STATE); }
PX_FORCE_INLINE Ps::IntBool isElementInteraction() const;
// Called when an interaction is activated or created.
// Return true if activation should proceed else return false (for example: joint interaction between two kinematics should not get activated)
virtual bool onActivate(void* data) = 0;
// Called when an interaction is deactivated.
// Return true if deactivation should proceed else return false (for example: joint interaction between two kinematics can ignore deactivation because it always is deactivated)
virtual bool onDeactivate(PxU32 infoFlag) = 0;
PX_FORCE_INLINE void setInteractionId(PxU32 id) { mSceneId = id; }
PX_FORCE_INLINE PxU32 getInteractionId() const { return mSceneId; }
PX_FORCE_INLINE void setActorId(ActorSim* actor, PxU32 id);
PX_FORCE_INLINE void invalidateActorId(ActorSim* actor);
PX_FORCE_INLINE PxU32 getActorId(const ActorSim* actor) const;
PX_FORCE_INLINE PxU8 getDirtyFlags() const { return mDirtyFlags; }
private:
void addToDirtyList();
void removeFromDirtyList();
ActorSim& mActor0;
ActorSim& mActor1;
PxU32 mSceneId; // PT: TODO: merge this with mInteractionType
// PT: TODO: are those IDs even worth caching? Since the number of interactions per actor is (or should be) small,
// we could just do a linear search and save memory here...
PxU32 mActorId0; // PT: id of this interaction within mActor0's mInteractions array
PxU32 mActorId1; // PT: id of this interaction within mActor1's mInteractions array
protected:
PxU8 mInteractionType; // PT: stored on a byte to save space, should be InteractionType enum
PxU8 mInteractionFlags;
PxU8 mDirtyFlags; // see DirtyFlag enum
PxU8 mPadding;
};
} // namespace Sc
//////////////////////////////////////////////////////////////////////////
PX_FORCE_INLINE bool Sc::Interaction::registerInActors(void* data)
{
bool active = onActivate(data);
mActor0.registerInteraction(this);
mActor1.registerInteraction(this);
return active;
}
PX_FORCE_INLINE void Sc::Interaction::unregisterFromActors()
{
mActor0.unregisterInteraction(this);
mActor1.unregisterInteraction(this);
}
PX_FORCE_INLINE void Sc::Interaction::invalidateActorId(ActorSim* actor)
{
if (&mActor0 == actor)
mActorId0 = PX_INVALID_INTERACTION_ACTOR_ID;
else
mActorId1 = PX_INVALID_INTERACTION_ACTOR_ID;
}
PX_FORCE_INLINE void Sc::Interaction::setActorId(ActorSim* actor, PxU32 id)
{
PX_ASSERT(id != PX_INVALID_INTERACTION_ACTOR_ID);
if (&mActor0 == actor)
mActorId0 = id;
else
mActorId1 = id;
}
PX_FORCE_INLINE PxU32 Sc::Interaction::getActorId(const ActorSim* actor) const
{
if (&mActor0 == actor)
return mActorId0;
else
return mActorId1;
}
PX_FORCE_INLINE Ps::IntBool Sc::Interaction::isElementInteraction() const
{
Ps::IntBool res = readInteractionFlag(InteractionFlag::eELEMENT_ELEMENT);
#if PX_USE_PARTICLE_SYSTEM_API
PX_ASSERT( (res &&
((getType() == InteractionType::eOVERLAP) ||
(getType() == InteractionType::eTRIGGER) ||
(getType() == InteractionType::eMARKER) ||
(getType() == InteractionType::ePARTICLE_BODY))) ||
(!res &&
((getType() == InteractionType::eCONSTRAINTSHADER) ||
(getType() == InteractionType::eARTICULATION))));
#else
PX_ASSERT( (res &&
((getType() == InteractionType::eOVERLAP) ||
(getType() == InteractionType::eTRIGGER) ||
(getType() == InteractionType::eMARKER))) ||
(!res &&
((getType() == InteractionType::eCONSTRAINTSHADER) ||
(getType() == InteractionType::eARTICULATION))));
#endif
return res;
}
PX_FORCE_INLINE void Sc::Interaction::setDirty(PxU32 dirtyFlags)
{
PX_ASSERT(getType() != InteractionType::eARTICULATION);
mDirtyFlags |= Ps::to8(dirtyFlags);
if (!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST))
{
addToDirtyList();
raiseInteractionFlag(InteractionFlag::eIN_DIRTY_LIST);
}
}
//PX_FORCE_INLINE void Sc::Interaction::setClean(bool removeFromList)
//{
// if (readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST))
// {
// if (removeFromList) // if we process all dirty interactions anyway, then we can just clear the list at the end and save the work here.
// removeFromDirtyList();
// clearInteractionFlag(InteractionFlag::eIN_DIRTY_LIST);
// }
//
// mDirtyFlags = 0;
//}
}
#endif // PX_PHYSICS_SCP_INTERACTION
|