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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) 2008-2018 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
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