PxsIslandManagerTypes.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 PXS_ISLAND_MANAGER_TYPES_H
#define PXS_ISLAND_MANAGER_TYPES_H
 
namespace physx
{
 
class PxsContactManager;
class PxsRigidBody;
namespace Dy
{
    struct Constraint;
    class Articulation;
}
 
typedef PxU32 NodeType;
typedef PxU32 EdgeType;
typedef PxU32 IslandType;
#define INVALID_NODE 0xffffffff
#define INVALID_EDGE 0xffffffff
#define INVALID_ISLAND 0xffffffff
 
//----------------------------------------------------------------------------//
 
template <class T, T INVLD> class PxsIslandManagerHook
{
    friend class PxsIslandManager;
    T index;
 
public:
 
    static const T INVALID = INVLD;
 
    PX_FORCE_INLINE PxsIslandManagerHook(): index(INVLD) {}
    PX_FORCE_INLINE PxsIslandManagerHook(const T id): index(id) {}
    PX_FORCE_INLINE PxsIslandManagerHook(const PxsIslandManagerHook<T,INVLD>& src) : index(src.index) {}
    PX_FORCE_INLINE ~PxsIslandManagerHook(){}
 
    PX_FORCE_INLINE bool isManaged() const { return index!=INVLD; }
 
private:
};
 
typedef PxsIslandManagerHook<NodeType,INVALID_NODE> PxsIslandManagerNodeHook;
typedef PxsIslandManagerHook<EdgeType,INVALID_EDGE> PxsIslandManagerEdgeHook;
typedef PxsIslandManagerHook<IslandType,INVALID_ISLAND> PxsIslandManagerIslandHook;
 
//----------------------------------------------------------------------------//
 
class PxsIslandIndices
{
public:
 
    PxsIslandIndices()  {}
    ~PxsIslandIndices() {}
 
    NodeType    bodies;
    NodeType    articulations;
    EdgeType    contactManagers;
    EdgeType    constraints;
};
 
//----------------------------------------------------------------------------//
 
typedef PxU64 PxsNodeType;
 
 
struct PxsIndexedInteraction
{
    enum Enum
    {
        eBODY = 0,
        eKINEMATIC = 1,
        eARTICULATION = 2,
        eWORLD = 3
    };
 
    union
    {
        PxsNodeType             solverBody0;
        PxsNodeType             articulation0;
    };
 
    union
    {
        PxsNodeType                 solverBody1;
        PxsNodeType                 articulation1;
    };
 
    PxU8 indexType0;
 
    PxU8 indexType1;
 
    PxU8 pad[2];
};
 
struct PxsIndexedContactManager : public PxsIndexedInteraction
{
    PxsContactManager* contactManager;
    
    PxsIndexedContactManager(PxsContactManager* cm) : contactManager(cm) {}
};
#if !PX_X64
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxsIndexedContactManager) & 0x0f));
#endif
 
struct PxsIndexedConstraint : public PxsIndexedInteraction
{
    Dy::Constraint* constraint;
 
    PxsIndexedConstraint(Dy::Constraint* c) : constraint(c) {}
};
#if !PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxsIndexedConstraint) & 0x0f));
#endif
 
//----------------------------------------------------------------------------//
 
struct PxsNarrowPhaseSecondPassContactManager
{
    PxsContactManager* mCM;
 
    EdgeType mSolverCMId;   //Keeps a track of which entries in the solver islands temporarily have a null contact manager 
 
    EdgeType mEdgeId;
};
 
 
} //namespace physx
 
 
#endif //PXS_ISLAND_MANAGER_TYPES_H