DyCorrelationBuffer.h

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#ifndef DY_CORRELATION_BUFFER_H
#define DY_CORRELATION_BUFFER_H
 
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxBounds3.h"
#include "geomutils/PxContactBuffer.h"
 
#include "PxvConfig.h"
#include "DyFrictionPatch.h"
 
namespace physx
{
 
struct PxcNpWorkUnit;
struct PxsMaterialInfo;
 
namespace Dy
{
 
struct CorrelationBuffer
{
    static const PxU32 MAX_FRICTION_PATCHES = 32;
    static const PxU16 LIST_END = 0xffff;
 
    struct ContactPatchData
    {
        PxU16 start;
        PxU16 next;
        PxU8 flags;
        PxU8 count;
        PxReal staticFriction, dynamicFriction, restitution;
        PxBounds3 patchBounds;
    };
 
    // we can have as many contact patches as contacts, unfortunately
    ContactPatchData    contactPatches[PxContactBuffer::MAX_CONTACTS];
 
    FrictionPatch   PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);
    PxVec3              PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
    PxBounds3       patchBounds[MAX_FRICTION_PATCHES];
 
    PxU32               frictionPatchContactCounts[MAX_FRICTION_PATCHES];
    PxU32               correlationListHeads[MAX_FRICTION_PATCHES+1];
 
    // contact IDs are only used to identify auxiliary contact data when velocity
    // targets have been set. 
    PxU16               contactID[MAX_FRICTION_PATCHES][2];
 
    PxU32 contactPatchCount, frictionPatchCount;
 
};
 
bool createContactPatches(CorrelationBuffer& fb, const PxContactPoint* cb, PxU32 contactCount, PxReal normalTolerance);
 
bool correlatePatches(CorrelationBuffer& fb, 
                      const PxContactPoint* cb,
                      const PxTransform& bodyFrame0,
                      const PxTransform& bodyFrame1,
                      PxReal normalTolerance,
                      PxU32 startContactPatchIndex,
                      PxU32 startFrictionPatchIndex);
 
void growPatches(CorrelationBuffer& fb,
                 const PxContactPoint* buffer,
                 const PxTransform& bodyFrame0,
                 const PxTransform& bodyFrame1,
                 PxU32 frictionPatchStartIndex,
                 PxReal frictionOffsetThreshold);
 
}
 
}
 
#endif