include/geomutils/PxContactBuffer.h

File members: include/geomutils/PxContactBuffer.h

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#ifndef PX_CONTACTBUFFER_H
#define PX_CONTACTBUFFER_H

#include "PxPhysXConfig.h"
#include "geomutils/PxContactPoint.h"
#include "PxContact.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

    class PxContactBuffer
    {
    public:

        static const PxU32 MAX_CONTACTS = 64;

        PxContactPoint  contacts[MAX_CONTACTS];
        PxU32           count;
        PxU32           pad;

        PX_FORCE_INLINE void reset()
        {
            count = 0;
        }

        PX_FORCE_INLINE bool contact(const PxVec3& worldPoint, const PxVec3& worldNormalIn, PxReal separation, PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX)
        {
            PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);

            if(count>=MAX_CONTACTS)
                return false;

            PxContactPoint& p   = contacts[count++];
            p.normal            = worldNormalIn;
            p.point             = worldPoint;
            p.separation        = separation;
            p.internalFaceIndex1= faceIndex1;
            return true;
        }

        PX_FORCE_INLINE bool contact(const PxContactPoint& pt)
        {
            if(count>=MAX_CONTACTS)
                return false;
            contacts[count++] = pt;
            return true;
        }

        PX_FORCE_INLINE PxContactPoint* contact()
        {
            if(count>=MAX_CONTACTS)
                return NULL;
            return &contacts[count++];
        }
    };

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif