PxContactModifyCallback.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 PX_CONTACT_MODIFY_CALLBACK_H
#define PX_CONTACT_MODIFY_CALLBACK_H
#include "PxPhysXConfig.h"
#include "PxShape.h"
#include "PxContact.h"
#include "foundation/PxTransform.h"
 
#if !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)        
    { 
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
        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].targetVelocity;   }
 
    PX_FORCE_INLINE     void setTargetVelocity(PxU32 i, const PxVec3& v)
    { 
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eHAS_TARGET_VELOCITY;
        mContacts[i].targetVelocity = v;
    }
 
    PX_FORCE_INLINE     PxU32 getInternalFaceIndex0(PxU32 i)    const       { PX_UNUSED(i); return PXC_CONTACT_NO_FACE_INDEX; }
 
    PX_FORCE_INLINE     PxU32 getInternalFaceIndex1(PxU32 i)    const
    {
        PxContactPatch* patch = getPatch();
        if (patch->internalFlags & PxContactPatch::eHAS_FACE_INDICES)
        {
            return reinterpret_cast<PxU32*>(mContacts + mCount)[mCount + i];
        }
        return PXC_CONTACT_NO_FACE_INDEX;
    }
 
    PX_FORCE_INLINE     PxReal getMaxImpulse(PxU32 i) const             { return mContacts[i].maxImpulse;   }
 
    PX_FORCE_INLINE     void setMaxImpulse(PxU32 i, PxReal s)
    {
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eHAS_MAX_IMPULSE;
        mContacts[i].maxImpulse = s; 
    }
 
    PX_FORCE_INLINE     PxReal getRestitution(PxU32 i) const            { return mContacts[i].restitution; }
 
    PX_FORCE_INLINE     void setRestitution(PxU32 i, PxReal r)
    {
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
        mContacts[i].restitution = r; 
    }
 
    PX_FORCE_INLINE     PxReal getStaticFriction(PxU32 i) const { return mContacts[i].staticFriction; }
 
    PX_FORCE_INLINE     void setStaticFriction(PxU32 i, PxReal f) 
    { 
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES;
        mContacts[i].staticFriction = f; 
    }
 
    PX_FORCE_INLINE     PxReal getDynamicFriction(PxU32 i) const { return mContacts[i].dynamicFriction; }
 
    PX_FORCE_INLINE     void setDynamicFriction(PxU32 i, PxReal f) 
    {
        PxContactPatch* patch = getPatch();
        patch->internalFlags |= PxContactPatch::eREGENERATE_PATCHES; 
        mContacts[i].dynamicFriction = f; 
    }
 
    PX_FORCE_INLINE     void ignore(PxU32 i)                            { setMaxImpulse(i, 0.0f);   }
 
    PX_FORCE_INLINE     PxU32 size() const                              { return mCount; }
 
    PX_FORCE_INLINE     PxReal getInvMassScale0() const                 
    { 
        PxContactPatch* patch = getPatch();
        return patch->mMassModification.mInvMassScale0;
    }
 
    PX_FORCE_INLINE     PxReal getInvMassScale1() const                 
    { 
        PxContactPatch* patch = getPatch();
        return patch->mMassModification.mInvMassScale1;
    }
 
    PX_FORCE_INLINE     PxReal getInvInertiaScale0() const                  
    { 
        PxContactPatch* patch = getPatch();
        return patch->mMassModification.mInvInertiaScale0;
    }
 
    PX_FORCE_INLINE     PxReal getInvInertiaScale1() const                  
    { 
        PxContactPatch* patch = getPatch();
        return patch->mMassModification.mInvInertiaScale1;
    }
 
    PX_FORCE_INLINE     void setInvMassScale0(const PxReal scale)                   
    { 
        PxContactPatch* patch = getPatch();
        patch->mMassModification.mInvMassScale0 = scale;
        patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
    }
 
    PX_FORCE_INLINE     void setInvMassScale1(const PxReal scale)                   
    { 
        PxContactPatch* patch = getPatch();
        patch->mMassModification.mInvMassScale1 = scale;
        patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
    }
 
    PX_FORCE_INLINE     void setInvInertiaScale0(const PxReal scale)                    
    { 
        PxContactPatch* patch = getPatch();
        patch->mMassModification.mInvInertiaScale0 = scale;
        patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
    }
 
    PX_FORCE_INLINE     void setInvInertiaScale1(const PxReal scale)                    
    { 
        PxContactPatch* patch = getPatch();
        patch->mMassModification.mInvInertiaScale1 = scale;
        patch->internalFlags |= PxContactPatch::eHAS_MODIFIED_MASS_RATIOS;
    }
 
protected:
 
    PX_FORCE_INLINE PxContactPatch* getPatch() const
    {
        const size_t headerOffset = sizeof(PxContactPatch)*mCount;
        return reinterpret_cast<PxContactPatch*>(reinterpret_cast<PxU8*>(mContacts) - headerOffset);
    }
 
    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(){}
};
 
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif