GuPCMContactGen.h

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#ifndef GU_PCM_CONTACT_GEN_H
#define GU_PCM_CONTACT_GEN_H
 
 
#include "GuConvexSupportTable.h"
#include "GuPersistentContactManifold.h"
#include "GuShapeConvex.h"
#include "GuSeparatingAxes.h"
#include "GuGJKType.h"
#include "GuGJKUtil.h"
 
namespace physx
{
 
namespace Gu
{
 
 
    //full contact gen code for box/convexhull vs convexhull
    bool generateFullContactManifold(Gu::PolygonalData& polyData0, Gu::PolygonalData& polyData1, Gu::SupportLocal* map0, Gu::SupportLocal* map1, Gu::PersistentContact* manifoldContacts, 
        PxU32& numContacts, const aos::FloatVArg contactDist, const aos::Vec3VArg normal, const aos::Vec3VArg closestA, const aos::Vec3VArg closestB, 
        const PxReal toleranceA, const PxReal toleranceB, bool doOverlapTest, PxRenderOutput* renderOutput, const PxReal toleranceLength);
 
    //full contact gen code for capsule vs convexhulll
    bool generateFullContactManifold(const Gu::CapsuleV& capsule, Gu::PolygonalData& polyData, Gu::SupportLocal* map, const aos::PxMatTransformV& aToB,  Gu::PersistentContact* manifoldContacts, 
        PxU32& numContacts, const aos::FloatVArg contactDist, aos::Vec3V& normal, const aos::Vec3VArg closest, const PxReal tolerance, bool doOverlapTest, const PxReal toleranceScale);
 
    //full contact gen code for capsule vs box
    bool generateCapsuleBoxFullContactManifold(const Gu::CapsuleV& capsule, Gu::PolygonalData& polyData, Gu::SupportLocal* map, const aos::PxMatTransformV& aToB, Gu::PersistentContact* manifoldContacts, PxU32& numContacts,
        const aos::FloatVArg contactDist, aos::Vec3V& normal, const aos::Vec3VArg closest, const PxReal boxMargin, const bool doOverlapTest, const PxReal toeranceScale, PxRenderOutput* renderOutput);
 
    //based on the gjk status to decide whether we should do full contact gen with GJK/EPA normal. Also, this method store
    //GJK/EPA point to the manifold in case full contact gen doesn't generate any contact
    bool addGJKEPAContacts(const Gu::GjkConvex* relativeConvex, const Gu::GjkConvex* localConvex, const aos::PxMatTransformV& aToB, Gu::GjkStatus status,
        Gu::PersistentContact* manifoldContacts, const aos::FloatV replaceBreakingThreshold, const aos::FloatV toleranceLength, GjkOutput& output,
        Gu::PersistentContactManifold& manifold);
 
    //MTD code for box/convexhull vs box/convexhull
    bool computeMTD(Gu::PolygonalData& polyData0, Gu::PolygonalData& polyData1,  SupportLocal* map0, SupportLocal* map1, aos::FloatV& penDepth, aos::Vec3V& normal);
    
    //MTD code for capsule vs box/convexhull
    bool computeMTD(const Gu::CapsuleV& capsule, Gu::PolygonalData& polyData, Gu::SupportLocal* map, aos::FloatV& penDepth, aos::Vec3V& normal);
 
    void buildPartialHull(const Gu::PolygonalData& polyData, SupportLocal* map, Gu::SeparatingAxes& validAxes, const aos::Vec3VArg v, const aos::Vec3VArg _dir);
 
    //full contact gen code for sphere vs convexhull
    bool generateSphereFullContactManifold(const Gu::CapsuleV& capsule, Gu::PolygonalData& polyData, Gu::SupportLocal* map, Gu::PersistentContact* manifoldContacts, PxU32& numContacts,
        const aos::FloatVArg contactDist, aos::Vec3V& normal, const bool doOverlapTest);
 
}  
}
 
#endif