PxsContactManagerState.h

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#ifndef PXS_CONTACT_MANAGER_STATE_H
#define PXS_CONTACT_MANAGER_STATE_H
 
#include "foundation/PxSimpleTypes.h"
 
namespace physx
{
 
    struct PxsShapeCore;
 
    struct PxsContactManagerStatusFlag
    {
        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),
            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)
            eSTATIC_OR_KINEMATIC        = (1 << 6)
        };
    };
        
 
    struct PX_ALIGN_PREFIX(16) PxsContactManagerOutput
    {
        PxU8* contactPatches;               //Start index/ptr for contact patches
        PxU8* contactPoints;                //Start index/ptr for contact points
        PxReal* contactForces;              //Start index/ptr for contact forces
        PxU8 allflagsStart;                 //padding for compatibility with existing code
        PxU8 nbPatches;                     //Num patches
        PxU8 statusFlag;                    //Status flag (has touch etc.)
        PxU8 prevPatches;                   //Previous number of patches
        PxU16 nbContacts;                   //Num contacts
        PxU16 flags;                        //Not really part of outputs, but we have 4 bytes of padding, so why not?
#if PX_X86
        PxU32 pad[3];
#endif      
 
        PX_FORCE_INLINE PxU32* getInternalFaceIndice()
        {
            return reinterpret_cast<PxU32*>(contactForces + nbContacts);
        }
    } 
    PX_ALIGN_SUFFIX(16);
 
    struct PX_ALIGN_PREFIX(4) PxsContactManagerOutputCounts
    {
        PxU8 nbPatches;                     //Num patches
        PxU8 prevPatches;                   //Previous number of patches
        PxU8 statusFlag;                    //Status flag;
        PxU8 unused;                        //Unused
    } PX_ALIGN_SUFFIX(4);
 
    struct PX_ALIGN_PREFIX(4) PxsContactManagerPersistency
    {
        PxU8 mPrevPatches;
        PxU8 mNbFrictionPatches;
        PxU8 mNbPrevFrictionPatches;
        PxU8 pad;
    } PX_ALIGN_SUFFIX(4);
 
    struct PX_ALIGN_PREFIX(8) PxsTorsionalFrictionData
    {
        PxReal mTorsionalPatchRadius;
        PxReal mMinTorsionalRadius;
 
        PxsTorsionalFrictionData() {}
        PxsTorsionalFrictionData(const PxReal patchRadius, const PxReal minPatchRadius) :
            mTorsionalPatchRadius(patchRadius), mMinTorsionalRadius(minPatchRadius) {}
    } PX_ALIGN_SUFFIX(8);
 
}
 
#endif //PXG_CONTACT_MANAGER_H