GuContactMethodImpl.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef GU_CONTACTMETHODIMPL_H
#define GU_CONTACTMETHODIMPL_H
 
#include "foundation/PxAssert.h"
#include "common/PxPhysXCommonConfig.h"
#include "collision/PxCollisionDefs.h"
#include "GuGeometryChecks.h"
 
namespace physx
{
    class PxGeometry;
    class PxRenderOutput;
    class PxContactBuffer;
 
namespace Gu
{
    class PersistentContactManifold;
    class MultiplePersistentContactManifold;
 
    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
    };
 
    enum ManifoldFlags
    {
        IS_MANIFOLD         = (1<<0),
        IS_MULTI_MANIFOLD   = (1<<1)
    };
 
    struct Cache : public PxCache
    {
        Cache()
        {
        }
 
        PX_FORCE_INLINE void setManifold(void* manifold)
        {
            PX_ASSERT((size_t(manifold) & 0xF) == 0);
            mCachedData = reinterpret_cast<PxU8*>(manifold);
            mManifoldFlags |= IS_MANIFOLD;
        }
 
        PX_FORCE_INLINE void setMultiManifold(void* manifold)
        {
            PX_ASSERT((size_t(manifold) & 0xF) == 0);
            mCachedData = reinterpret_cast<PxU8*>(manifold);
            mManifoldFlags |= IS_MANIFOLD|IS_MULTI_MANIFOLD;
        }
 
        PX_FORCE_INLINE PxU8 isManifold()   const
        {
            return PxU8(mManifoldFlags & IS_MANIFOLD);
        }
 
        PX_FORCE_INLINE PxU8 isMultiManifold()  const
        {
            return PxU8(mManifoldFlags & IS_MULTI_MANIFOLD);
        }
 
        PX_FORCE_INLINE PersistentContactManifold& getManifold()
        {
            PX_ASSERT(isManifold());
            PX_ASSERT(!isMultiManifold());
            PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
            return *reinterpret_cast<PersistentContactManifold*>(mCachedData);
        }
 
        PX_FORCE_INLINE MultiplePersistentContactManifold& getMultipleManifold()
        {
            PX_ASSERT(isManifold());
            PX_ASSERT(isMultiManifold());
            PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
            return *reinterpret_cast<MultiplePersistentContactManifold*>(mCachedData);
        }
    };
}
 
template<class Geom> PX_CUDA_CALLABLE PX_FORCE_INLINE const Geom& checkedCast(const PxGeometry& geom)
{
    checkType<Geom>(geom);
    return static_cast<const Geom&>(geom);
}
 
#define GU_CONTACT_METHOD_ARGS              \
    const PxGeometry& shape0,               \
    const PxGeometry& shape1,               \
    const PxTransform& transform0,          \
    const PxTransform& transform1,          \
    const Gu::NarrowPhaseParams& params,    \
    Gu::Cache& cache,                       \
    PxContactBuffer& contactBuffer,         \
    PxRenderOutput* renderOutput
 
#define GU_CONTACT_METHOD_ARGS_UNUSED   \
    const PxGeometry&,                  \
    const PxGeometry&,                  \
    const PxTransform&,                 \
    const PxTransform&,                 \
    const Gu::NarrowPhaseParams&,       \
    Gu::Cache&,                         \
    PxContactBuffer&,                   \
    PxRenderOutput*
 
namespace Gu
{
    PX_PHYSX_COMMON_API bool contactSphereSphere(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactSphereBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactCapsuleBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactBoxBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactBoxConvex(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactConvexConvex(GU_CONTACT_METHOD_ARGS);
    
    PX_PHYSX_COMMON_API bool contactSphereMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactBoxMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactConvexMesh(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool contactSphereHeightfield(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactCapsuleHeightfield(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactBoxHeightfield(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactConvexHeightfield(GU_CONTACT_METHOD_ARGS);
    
    PX_PHYSX_COMMON_API bool contactSpherePlane(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactPlaneBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactPlaneConvex(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool contactCustomGeometryGeometry(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool contactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool pcmContactSphereMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS);
    
    PX_PHYSX_COMMON_API bool pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactPlaneConvex(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactSpherePlane(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS);
    
    PX_PHYSX_COMMON_API bool pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactBoxBox(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS);
    PX_PHYSX_COMMON_API bool pcmContactConvexConvex(GU_CONTACT_METHOD_ARGS);
 
    PX_PHYSX_COMMON_API bool pcmContactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);
}
}
 
#endif