ScIterators.h

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#ifndef SC_ITERATORS_H
#define SC_ITERATORS_H
 
#include "foundation/PxVec3.h"
#include "PxContact.h"
 
namespace physx
{
class PxShape;
class PxsContactManagerOutputIterator;
 
namespace Sc
{
    class ShapeSimBase;
    class Interaction;
    
    struct Contact
    {
        Contact() 
            : normal(0.0f)
            , point(0.0f)
            , separation(0.0f)
            , normalForce(0.0f)
        {}
 
        PxVec3 normal;
        PxVec3 point;
        PxShape* shape0;
        PxShape* shape1;
        PxReal separation;
        PxReal normalForce;
        PxU32 faceIndex0;  // these are the external indices
        PxU32 faceIndex1;
        bool normalForceAvailable;
    };
 
    class ContactIterator
    {
        public:     
 
            class Pair
            {
            public:
                Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
                Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSimBase& shape0, ShapeSimBase& shape1);
                Contact* getNextContact();
 
            private:
                PxU32                       mIndex;
                PxU32                       mNumContacts;
                PxContactStreamIterator     mIter;
                const PxReal*               mForces;
                Contact                     mCurrentContact;
            };
 
            ContactIterator() {}
            explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
            Pair* getNextPair();
            Interaction* getCurrentInteraction() { return *mCurrent; }
            
        private:
            Interaction**                   mCurrent;
            Interaction**                   mLast;
            Pair                            mCurrentPair;
            PxU32                           mOffset;
            PxsContactManagerOutputIterator* mOutputs;
 
    private:
    };
 
}  // namespace Sc
 
}
 
#endif