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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_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 asPartOfActorTransformChange, bool forceBoundsUpdate = false);
void onMaterialChange(); // remove when material properties are gone from PxcNpWorkUnit
void onContactOffsetChange();
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();
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();
void initSubsystemsDependingOnElementID();
}
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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