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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) 2008-2016 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 "ScIterators.h"
#include "ScBodySim.h"
#include "ScShapeSim.h"
#include "ScShapeInteraction.h"
using namespace physx;
///////////////////////////////////////////////////////////////////////////////
Sc::ContactIterator::Pair::Pair(const void*& contactPatches, const void*& contactPoints, PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches,
ShapeSim& shape0, ShapeSim& shape1)
: mIndex(0)
, mNumContacts(numContacts)
, mIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(contactPoints), reinterpret_cast<const PxU32*>(forces + numContacts), numPatches, numContacts)
, mForces(forces)
, mShape0(&shape0)
, mShape1(&shape1)
{
mCurrentContact.shape0 = shape0.getPxShape();
mCurrentContact.shape1 = shape1.getPxShape();
mCurrentContact.normalForceAvailable = (forces != NULL);
}
Sc::ContactIterator::Pair* Sc::ContactIterator::getNextPair()
{
if(mCurrent < mLast)
{
ShapeInteraction* si = static_cast<ShapeInteraction*>(*mCurrent);
const void* contactPatches = NULL;
const void* contactPoints = NULL;
PxU32 contactDataSize = 0;
const PxReal* forces = NULL;
PxU32 numContacts = 0;
PxU32 numPatches = 0;
PxU32 nextOffset = si->getContactPointData(contactPatches, contactPoints, contactDataSize, numContacts, numPatches, forces, mOffset, *mOutputs);
if (nextOffset == mOffset)
++mCurrent;
else
mOffset = nextOffset;
mCurrentPair = Pair(contactPatches, contactPoints, contactDataSize, forces, numContacts, numPatches, si->getShape0(), si->getShape1());
return &mCurrentPair;
}
else
return NULL;
}
Sc::Contact* Sc::ContactIterator::Pair::getNextContact()
{
if(mIndex < mNumContacts)
{
if(!mIter.hasNextContact())
{
if(!mIter.hasNextPatch())
return NULL;
mIter.nextPatch();
}
PX_ASSERT(mIter.hasNextContact());
mIter.nextContact();
mCurrentContact.normal = mIter.getContactNormal();
mCurrentContact.point = mIter.getContactPoint();
mCurrentContact.separation = mIter.getSeparation();
mCurrentContact.normalForce = mForces ? mForces[mIndex] : 0;
mCurrentContact.faceIndex0 = mIter.getFaceIndex0();
mCurrentContact.faceIndex1 = mIter.getFaceIndex1();
mIndex++;
return &mCurrentContact;
}
return NULL;
}
///////////////////////////////////////////////////////////////////////////////
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