PxContactStreamIterator

Defined in include/PxContact.h

struct PxContactStreamIterator

A class to iterate over a compressed contact stream.

This supports read-only access to the various contact formats.

Public Types

enum StreamFormat

Values:

enumerator eSIMPLE_STREAM

enumerator eMODIFIABLE_STREAM

enumerator eCOMPRESSED_MODIFIABLE_STREAM

Public Functions

inline PxContactStreamIterator(const PxU8 *contactPatches, const PxU8 *contactPoints, const PxU32 *contactFaceIndices, PxU32 nbPatches, PxU32 nbContacts): Constructor.

inline bool hasNextPatch() const

Returns whether there are more patches in this stream.

Returns: Whether there are more patches in this stream.

inline PxU32 getTotalContactCount() const

Returns the total contact count.

Returns: Total contact count.

inline PxU32 getTotalPatchCount() const

Returns the total patch count.

Returns: Total patch count.

inline void nextPatch(): Advances iterator to next contact patch.

inline bool hasNextContact() const

Returns if the current patch has more contacts.

Returns: If there are more contacts in the current patch.

inline void nextContact(): Advances to the next contact in the patch.

inline const PxVec3 &getContactNormal() const

Gets the current contact’s normal.

Returns: The current contact’s normal.

inline PxReal getInvMassScale0() const

Gets the inverse mass scale for body 0.

Returns: The inverse mass scale for body 0.

inline PxReal getInvMassScale1() const

Gets the inverse mass scale for body 1.

Returns: The inverse mass scale for body 1.

inline PxReal getInvInertiaScale0() const

Gets the inverse inertia scale for body 0.

Returns: The inverse inertia scale for body 0.

inline PxReal getInvInertiaScale1() const

Gets the inverse inertia scale for body 1.

Returns: The inverse inertia scale for body 1.

inline PxReal getMaxImpulse() const

Gets the contact’s max impulse.

Returns: The contact’s max impulse.

inline const PxVec3 &getTargetVel() const

Gets the contact’s target velocity.

Returns: The contact’s target velocity.

inline const PxVec3 &getContactPoint() const

Gets the contact’s contact point.

Returns: The contact’s contact point.

inline PxReal getSeparation() const

Gets the contact’s separation.

Returns: The contact’s separation.

inline PxU32 getFaceIndex0() const

Gets the contact’s face index for shape 0.

Returns: The contact’s face index for shape 0.

inline PxU32 getFaceIndex1() const

Gets the contact’s face index for shape 1.

Returns: The contact’s face index for shape 1.

inline PxReal getStaticFriction() const

Gets the contact’s static friction coefficient.

Returns: The contact’s static friction coefficient.

inline PxReal getDynamicFriction() const

Gets the contact’s dynamic friction coefficient.

Returns: The contact’s dynamic friction coefficient.

inline PxReal getRestitution() const

Gets the contact’s restitution coefficient.

Returns: The contact’s restitution coefficient.

inline PxReal getDamping() const

Gets the contact’s damping value.

Returns: The contact’s damping value.

inline PxU32 getMaterialFlags() const

Gets the contact’s material flags.

Returns: The contact’s material flags.

inline PxU16 getMaterialIndex0() const

Gets the contact’s material index for shape 0.

Returns: The contact’s material index for shape 0.

inline PxU16 getMaterialIndex1() const

Gets the contact’s material index for shape 1.

Returns: The contact’s material index for shape 1.

inline bool advanceToIndex(const PxU32 initialIndex)

Advances the contact stream iterator to a specific contact index.

Returns: True if advancing was possible

Public Members

PxVec3 zero: Utility zero vector to optimize functions returning zero vectors when a certain flag isn’t set.

Note

This allows us to return by reference instead of having to return by value. Returning by value will go via memory (registers -> stack -> registers), which can cause performance issues on certain platforms.

const PxContactPatch *patch: The patch headers.

const PxContact *contact: The contacts.

const PxU32 *faceIndice: The contact triangle face index.

PxU32 totalPatches: The total number of patches in this contact stream.

PxU32 totalContacts: The total number of contact points in this stream.

PxU32 nextContactIndex: The current contact index.

PxU32 nextPatchIndex: The current patch Index.

PxU32 contactPatchHeaderSize: Size of contact patch header.

Note

This varies whether the patch is modifiable or not.

PxU32 contactPointSize: Contact point size.

Note

This varies whether the patch has feature indices or is modifiable.

StreamFormat mStreamFormat: The stream format.

PxU32 forceNoResponse: Indicates whether this stream is notify-only or not.

bool pointStepped: Internal helper for stepping the contact stream iterator.

PxU32 hasFaceIndices

Specifies if this contactPatch has face indices (handled as bool)