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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 PX_PHYSICS_SCP_SHAPESIM
#define PX_PHYSICS_SCP_SHAPESIM
#include "ScElementSim.h"
#include "ScShapeCore.h"
#include "CmPtrTable.h"
#include "ScRigidSim.h"
#include "PxsShapeSim.h"
namespace physx
{
class PxsTransformCache;
namespace Gu
{
class TriangleMesh;
class HeightField;
}
/** Simulation object corresponding to a shape core object. This object is created when
a ShapeCore object is added to the simulation, and destroyed when it is removed
*/
struct PxsRigidCore;
namespace Sc
{
class RigidSim;
class ShapeCore;
class Scene;
class BodySim;
class StaticSim;
PX_ALIGN_PREFIX(16)
class ShapeSim : public ElementSim
{
ShapeSim &operator=(const ShapeSim &);
public:
// passing in a pointer for the shape to output its bounds allows us not to have to compute them twice.
// A neater way to do this would be to ask the AABB Manager for the bounds after the shape has been
// constructed, but there is currently no spec for what the AABBMgr is allowed to do with the bounds,
// hence better not to assume anything.
ShapeSim(RigidSim&, const ShapeCore& core);
virtual ~ShapeSim();
// ElementSim
virtual void getFilterInfo(PxFilterObjectAttributes& filterAttr, PxFilterData& filterData) const;
//~ElementSim
void reinsertBroadPhase();
PX_FORCE_INLINE const ShapeCore& getCore() const { return mCore; }
// TODO: compile time coupling
PX_INLINE PxGeometryType::Enum getGeometryType() const { return mCore.getGeometryType(); }
// This is just for getting a reference for the user, so we cast away const-ness
PX_INLINE PxShape* getPxShape() const { return const_cast<PxShape*>(mCore.getPxShape()); }
PX_FORCE_INLINE PxReal getRestOffset() const { return mCore.getRestOffset(); }
PX_FORCE_INLINE PxU32 getFlags() const { return mCore.getFlags(); }
PX_FORCE_INLINE PxReal getContactOffset() const { return mCore.getContactOffset(); }
PX_FORCE_INLINE RigidSim& getRbSim() const { return static_cast<RigidSim&>(getActor()); }
BodySim* getBodySim() const;
PxsRigidCore& getPxsRigidCore() const;
bool actorIsDynamic() const;
void onFilterDataChange();
void onRestOffsetChange();
void onFlagChange(PxShapeFlags oldFlags);
void onResetFiltering();
void onVolumeOrTransformChange(bool forceBoundsUpdate = false);
void onMaterialChange(); // remove when material properties are gone from PxcNpWorkUnit
void onContactOffsetChange();
void markBoundsForUpdate(bool forceBoundsUpdate, bool isDynamic);
void getAbsPoseAligned(PxTransform* PX_RESTRICT globalPose) const;
PX_FORCE_INLINE PxU32 getID() const { return mId; }
PX_FORCE_INLINE PxU32 getTransformCacheID() const { return getElementID(); }
void removeFromBroadPhase(bool wakeOnLostTouch);
void createSqBounds();
void destroySqBounds();
PX_FORCE_INLINE PxU32 getSqBoundsId() const { return mSqBoundsId; }
PX_FORCE_INLINE void setSqBoundsId(PxU32 id) { mSqBoundsId = id; }
void updateCached(PxU32 transformCacheFlags, Cm::BitMapPinned* shapeChangedMap);
void updateCached(PxsTransformCache& transformCache, Bp::BoundsArray& boundsArray);
void updateContactDistance(PxReal* contactDistance, const PxReal inflation, const PxVec3 angVel, const PxReal dt, Bp::BoundsArray& boundsArray);
Ps::IntBool updateSweptBounds();
void updateBPGroup();
PX_FORCE_INLINE PxsShapeSim& getLLShapeSim() { return mLLShape; }
private:
PxsShapeSim mLLShape;
const ShapeCore& mCore;
PxU32 mId;
PxU32 mSqBoundsId;
PX_FORCE_INLINE void internalAddToBroadPhase();
PX_FORCE_INLINE void internalRemoveFromBroadPhase(bool wakeOnLostTouch=true);
void initSubsystemsDependingOnElementID();
Bp::FilterGroup::Enum getBPGroup() const;
}
PX_ALIGN_SUFFIX(16);
#if !PX_P64_FAMILY
// PX_COMPILE_TIME_ASSERT(32==sizeof(Sc::ShapeSim)); // after removing bounds from shapes
// PX_COMPILE_TIME_ASSERT((sizeof(Sc::ShapeSim) % 16) == 0); // aligned mem bounds are better for prefetching
#endif
} // namespace Sc
}
#endif
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