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GuContactBuffer.h

Go to the documentation of this file.

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#ifndef GU_CONTACTBUFFER_H
#define GU_CONTACTBUFFER_H

#include "PxPhysXConfig.h"
#include "PxContact.h"
#include "GuContactPoint.h"

namespace physx
{
namespace Gu
{

    struct NarrowPhaseParams
    {
        PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
                mContactDistance(contactDistance),
                mMeshContactMargin(meshContactMargin),
                mToleranceLength(toleranceLength)   {}

        PxReal  mContactDistance;
        PxReal  mMeshContactMargin; // PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
        PxReal  mToleranceLength;   // PT: copy of PxTolerancesScale::length
    };

//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
#define LOCAL_CONTACTS_SIZE     1088

class ContactBuffer
{
public:

    static const PxU32 MAX_CONTACTS = 64;

    Gu::ContactPoint    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;

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

    PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
        const PxVec3& worldNormalIn,
        PxReal separation,
        PxU16 internalUsage,
        PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
        )
    {
        PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);

        if (count >= MAX_CONTACTS)
            return false;

        Gu::ContactPoint& p = contacts[count++];
        p.normal = worldNormalIn;
        p.point = worldPoint;
        p.separation = separation;
        p.internalFaceIndex1 = faceIndex1;
        p.forInternalUse = internalUsage;
        return true;
    }

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

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

}
}

#endif

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