PxContactModifyCallback.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, 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.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_CONTACT_MODIFY_CALLBACK
#define PX_CONTACT_MODIFY_CALLBACK

#include "PxPhysXConfig.h"
#include "PxShape.h"
#include "PxContact.h"
#include "foundation/PxTransform.h"


#ifndef 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)        
    { 
        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].targetVel;    }

    PX_FORCE_INLINE     void setTargetVelocity(PxU32 i, const PxVec3& v)
    {
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->flags |= PxContactHeader::eHAS_TARGET_VELOCITY;
        mContacts[i].targetVel = v;
    }

    PX_FORCE_INLINE     PxU32 getInternalFaceIndex0(PxU32 i)            { return mContacts[i].internalFaceIndex0; }

    PX_FORCE_INLINE     PxU32 getInternalFaceIndex1(PxU32 i)            { return mContacts[i].internalFaceIndex1; }

    PX_FORCE_INLINE     PxReal getMaxImpulse(PxU32 i) const             { return mContacts[i].maxImpulse;   }

    PX_FORCE_INLINE     void setMaxImpulse(PxU32 i, PxReal s)           
    {
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->flags |= PxContactHeader::eHAS_MAX_IMPULSE;
        mContacts[i].maxImpulse = s; 
    }

    PX_FORCE_INLINE     void ignore(PxU32 i)                            { mContacts[i].maxImpulse = 0.f; }

    PX_FORCE_INLINE     PxU32 size() const                              { return mCount; }

    PX_FORCE_INLINE     PxReal getInvMassScale0() const                 
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        return header->invMassScale0;
    }

    PX_FORCE_INLINE     PxReal getInvMassScale1() const                 
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        return header->invMassScale1;
    }

    PX_FORCE_INLINE     PxReal getInvInertiaScale0() const                  
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        return header->invInertiaScale0;
    }

    PX_FORCE_INLINE     PxReal getInvInertiaScale1() const                  
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        return header->invInertiaScale1;
    }

    PX_FORCE_INLINE     void setInvMassScale0(const PxReal scale)                   
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->invMassScale0 = scale;
        header->flags |= PxContactHeader::eHAS_MODIFIED_MASS_RATIOS;
    }

    PX_FORCE_INLINE     void setInvMassScale1(const PxReal scale)                   
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->invMassScale1 = scale;
        header->flags |= PxContactHeader::eHAS_MODIFIED_MASS_RATIOS;
    }

    PX_FORCE_INLINE     void setInvInertiaScale0(const PxReal scale)                    
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->invInertiaScale0 = scale;
        header->flags |= PxContactHeader::eHAS_MODIFIED_MASS_RATIOS;
    }

    PX_FORCE_INLINE     void setInvInertiaScale1(const PxReal scale)                    
    { 
        const size_t headerOffset = sizeof(PxModifyContactHeader) +  sizeof(PxContactPatchBase);
        PxModifyContactHeader* header = reinterpret_cast<PxModifyContactHeader*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
        header->invInertiaScale1 = scale;
        header->flags |= PxContactHeader::eHAS_MODIFIED_MASS_RATIOS;
    }

protected:
    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(){}
};


#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif