PxcNpWorkUnit.h

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#ifndef PXC_NP_WORK_UNIT_H
#define PXC_NP_WORK_UNIT_H
 
#include "PxcNpThreadContext.h"
#include "PxcMaterialMethodImpl.h"
#include "PxcNpCache.h"
 
namespace physx
{
struct PxsRigidCore;
struct PxsShapeCore;
 
struct PxcNpWorkUnitFlag
{
    enum Enum
    {
        eOUTPUT_CONTACTS            = 1 << 0,
        eOUTPUT_CONSTRAINTS         = 1 << 1,
        eDISABLE_STRONG_FRICTION    = 1 << 2,
        eARTICULATION_BODY0         = 1 << 3,
        eARTICULATION_BODY1         = 1 << 4,
        eDYNAMIC_BODY0              = 1 << 5,
        eDYNAMIC_BODY1              = 1 << 6,
        eSOFT_BODY                  = 1 << 7,
        eMODIFIABLE_CONTACT         = 1 << 8,
        eFORCE_THRESHOLD            = 1 << 9,
        eDETECT_DISCRETE_CONTACT    = 1 << 10,
        eHAS_KINEMATIC_ACTOR        = 1 << 11,
        eDISABLE_RESPONSE           = 1 << 12,
        eDETECT_CCD_CONTACTS        = 1 << 13,
    };
};
 
struct PxcNpWorkUnitStatusFlag
{
    enum Enum
    {
        eHAS_NO_TOUCH               = (1 << 0),
        eHAS_TOUCH                  = (1 << 1),
        //eHAS_SOLVER_CONSTRAINTS       = (1 << 2),
        eREQUEST_CONSTRAINTS        = (1 << 3),
        eHAS_CCD_RETOUCH            = (1 << 4), // Marks pairs that are touching at a CCD pass and were touching at discrete collision or at a previous CCD pass already
                                                // but we can not tell whether they lost contact in a pass before. We send them as pure eNOTIFY_TOUCH_CCD events to the 
                                                // contact report callback if requested.
        eDIRTY_MANAGER              = (1 << 5),
        eREFRESHED_WITH_TOUCH       = (1 << 6),
        eTOUCH_KNOWN                = eHAS_NO_TOUCH | eHAS_TOUCH    // The touch status is known (if narrowphase never ran for a pair then no flag will be set)
    };
};
 
// PT: TODO: fix the inconsistent namings (mXXX) in this class
struct PxcNpWorkUnit
{
    const PxsRigidCore* rigidCore0;                 // INPUT                                //4     //8
    const PxsRigidCore* rigidCore1;                 // INPUT                                //8     //16
        
    const PxsShapeCore* shapeCore0;                 // INPUT                                //12    //24
    const PxsShapeCore* shapeCore1;                 // INPUT                                //16    //32
 
    PxU8*               ccdContacts;                // OUTPUT                               //20    //40
 
    PxU8*               frictionDataPtr;            // INOUT                                //24    //48
 
    PxU16               flags;                      // INPUT                                //26    //50
    PxU8                frictionPatchCount;         // INOUT                                //27    //51
    PxU8                statusFlags;                // OUTPUT (see PxcNpWorkUnitStatusFlag) //28    //52
 
    PxU8                dominance0;                 // INPUT                                //29    //53
    PxU8                dominance1;                 // INPUT                                //30    //54
    PxU8                geomType0;                  // INPUT                                //31    //55
    PxU8                geomType1;                  // INPUT                                //32    //56
 
    PxU32               index;                      // INPUT                                //36    //60
 
    PxReal              restDistance;               // INPUT                                //40    //64
 
    PxU32               mTransformCache0;           //                                      //44    //68
    PxU32               mTransformCache1;           //                                      //48    //72
    
    PxU32               mEdgeIndex;                 //inout the island gen edge index       //52    //76
    PxU32               mNpIndex;                   //INPUT                                 //56    //80
 
    PxReal              mTorsionalPatchRadius;                                              //60    //84
    PxReal              mMinTorsionalPatchRadius;                                           //64    //88
    PxReal              mOffsetSlop;                                                        //68    //92
 
    PX_FORCE_INLINE void    clearCachedState()
    {
        frictionDataPtr = NULL;
        frictionPatchCount = 0;
        ccdContacts = NULL;
    }
};
 
//#if !defined(PX_P64)
//PX_COMPILE_TIME_ASSERT(0 == (sizeof(PxcNpWorkUnit) & 0x0f));
//#endif
 
#if !defined(PX_P64)
//PX_COMPILE_TIME_ASSERT(sizeof(PxcNpWorkUnit)==128);
#endif
}
 
#endif