include/PxContactModifyCallback.h
File members: include/PxContactModifyCallback.h
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// Copyright (c) 2008-2024 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_CONTACT_MODIFY_CALLBACK_H
#define PX_CONTACT_MODIFY_CALLBACK_H
#include "PxPhysXConfig.h"
#include "PxShape.h"
#include "PxContact.h"
#include "foundation/PxTransform.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxShape;
class PxContactSet
{
public:
PX_FORCE_INLINE const PxVec3& getPoint(PxU32 i) const { return mContacts[i].contact; }
PX_FORCE_INLINE void setPoint(PxU32 i, const PxVec3& p) { mContacts[i].contact = p; }
PX_FORCE_INLINE const PxVec3& getNormal(PxU32 i) const { return mContacts[i].normal; }
PX_FORCE_INLINE void setNormal(PxU32 i, const PxVec3& n)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
mContacts[i].normal = n;
}
PX_FORCE_INLINE PxReal getSeparation(PxU32 i) const { return mContacts[i].separation; }
PX_FORCE_INLINE void setSeparation(PxU32 i, PxReal s) { mContacts[i].separation = s; }
PX_FORCE_INLINE const PxVec3& getTargetVelocity(PxU32 i) const { return mContacts[i].targetVelocity; }
PX_FORCE_INLINE void setTargetVelocity(PxU32 i, const PxVec3& v)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eHAS_TARGET_VELOCITY;
mContacts[i].targetVelocity = v;
}
PX_FORCE_INLINE PxU32 getInternalFaceIndex0(PxU32 i) const { PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
PX_FORCE_INLINE PxU32 getInternalFaceIndex1(PxU32 i) const
{
PxContactPatch* patch = getPatch();
if (patch->internalFlags & PxContactPatch::eHAS_FACE_INDICES)
{
return reinterpret_cast<PxU32*>(mContacts + mCount)[mCount + i];
}
return PXC_CONTACT_NO_FACE_INDEX;
}
PX_FORCE_INLINE PxReal getMaxImpulse(PxU32 i) const { return mContacts[i].maxImpulse; }
PX_FORCE_INLINE void setMaxImpulse(PxU32 i, PxReal s)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eHAS_MAX_IMPULSE;
mContacts[i].maxImpulse = s;
}
PX_FORCE_INLINE PxReal getRestitution(PxU32 i) const { return mContacts[i].restitution; }
PX_FORCE_INLINE void setRestitution(PxU32 i, PxReal r)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
mContacts[i].restitution = r;
}
PX_FORCE_INLINE PxReal getStaticFriction(PxU32 i) const { return mContacts[i].staticFriction; }
PX_FORCE_INLINE void setStaticFriction(PxU32 i, PxReal f)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
mContacts[i].staticFriction = f;
}
PX_FORCE_INLINE PxReal getDynamicFriction(PxU32 i) const { return mContacts[i].dynamicFriction; }
PX_FORCE_INLINE void setDynamicFriction(PxU32 i, PxReal f)
{
PxContactPatch* patch = getPatch();
patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
mContacts[i].dynamicFriction = f;
}
PX_FORCE_INLINE void ignore(PxU32 i) { setMaxImpulse(i, 0.0f); }
PX_FORCE_INLINE PxU32 size() const { return mCount; }
PX_FORCE_INLINE PxReal getInvMassScale0() const
{
PxContactPatch* patch = getPatch();
return patch->mMassModification.linear0;
}
PX_FORCE_INLINE PxReal getInvMassScale1() const
{
PxContactPatch* patch = getPatch();
return patch->mMassModification.linear1;
}
PX_FORCE_INLINE PxReal getInvInertiaScale0() const
{
PxContactPatch* patch = getPatch();
return patch->mMassModification.angular0;
}
PX_FORCE_INLINE PxReal getInvInertiaScale1() const
{
PxContactPatch* patch = getPatch();
return patch->mMassModification.angular1;
}
PX_FORCE_INLINE void setInvMassScale0(const PxReal scale)
{
PxContactPatch* patch = getPatch();
patch->mMassModification.linear0 = scale;
patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
}
PX_FORCE_INLINE void setInvMassScale1(const PxReal scale)
{
PxContactPatch* patch = getPatch();
patch->mMassModification.linear1 = scale;
patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
}
PX_FORCE_INLINE void setInvInertiaScale0(const PxReal scale)
{
PxContactPatch* patch = getPatch();
patch->mMassModification.angular0 = scale;
patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
}
PX_FORCE_INLINE void setInvInertiaScale1(const PxReal scale)
{
PxContactPatch* patch = getPatch();
patch->mMassModification.angular1 = scale;
patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
}
protected:
PX_FORCE_INLINE PxContactPatch* getPatch() const
{
const size_t headerOffset = sizeof(PxContactPatch)*mCount;
return reinterpret_cast<PxContactPatch*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
}
PxU32 mCount;
PxModifiableContact* mContacts;
};
class PxContactModifyPair
{
public:
const PxRigidActor* actor[2];
const PxShape* shape[2];
PxTransform transform[2];
PxContactSet contacts;
};
class PxContactModifyCallback
{
public:
virtual void onContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
protected:
virtual ~PxContactModifyCallback(){}
};
class PxCCDContactModifyCallback
{
public:
virtual void onCCDContactModify(PxContactModifyPair* const pairs, PxU32 count) = 0;
protected:
virtual ~PxCCDContactModifyCallback(){}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif