Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PXV_MANAGER_H
++ #define PXV_MANAGER_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxQuat.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxMemory.h"
++ #include "PxPhysXConfig.h"
++ #include "PxvGeometry.h"
++
++ namespace physx
++ {
++
++ /*!
++ \file
++ Manager interface
++ */
++
++ /************************************************************************/
++ /* Managers */
++ /************************************************************************/
++
++ class PxsContactManager;
++
++ struct PxsRigidCore;
++ struct PxsShapeCore;
++ class PxsRigidBody;
++
++ /*!
++ Type of PXD_MANAGER_CCD_MODE property
++ */
++ enum PxvContactManagerCCDMode
++ {
++ PXD_MANAGER_CCD_NONE,
++ PXD_MANAGER_CCD_LINEAR
++ };
++
++ /*!
++ Manager descriptor
++ */
++ struct PxvManagerDescRigidRigid
++ {
++ /*!
++ Manager user data
++
++ \sa PXD_MANAGER_USER_DATA
++ */
++ //void* userData;
++
++ /*!
++ Dominance setting for one way interactions.
++ A dominance of 0 means the corresp. body will
++ not be pushable by the other body in the constraint.
++ \sa PXD_MANAGER_DOMINANCE0
++ */
++ PxU8 dominance0;
++
++ /*!
++ Dominance setting for one way interactions.
++ A dominance of 0 means the corresp. body will
++ not be pushable by the other body in the constraint.
++ \sa PXD_MANAGER_DOMINANCE1
++ */
++ PxU8 dominance1;
++
++ /*!
++ PxsRigidBodies
++ */
++ PxsRigidBody* rigidBody0;
++ PxsRigidBody* rigidBody1;
++
++ /*!
++ Shape Core structures
++ */
++ const PxsShapeCore* shapeCore0;
++ const PxsShapeCore* shapeCore1;
++
++ /*!
++ Body Core structures
++ */
++ PxsRigidCore* rigidCore0;
++ PxsRigidCore* rigidCore1;
++
++ /*!
++ Enable contact information reporting.
++ */
++ int reportContactInfo;
++
++ /*!
++ Enable contact impulse threshold reporting.
++ */
++ int hasForceThreshold;
++
++ /*!
++ Enable generated contacts to be changeable
++ */
++ int contactChangeable;
++
++ /*!
++ Disable strong friction
++ */
++ //int disableStrongFriction;
++
++ /*!
++ Contact resolution rest distance.
++ */
++ PxReal restDistance;
++
++ /*!
++ Disable contact response
++ */
++ int disableResponse;
++
++ /*!
++ Disable discrete contact generation
++ */
++ int disableDiscreteContact;
++
++ /*!
++ Disable CCD contact generation
++ */
++ int disableCCDContact;
++
++ /*!
++ Is connected to an articulation (1 - first body, 2 - second body)
++ */
++ int hasArticulations;
++
++ /*!
++ is connected to a dynamic (1 - first body, 2 - second body)
++ */
++ int hasDynamics;
++
++ /*!
++ Is the pair touching? Use when re-creating the manager with prior knowledge about touch status.
++
++ positive: pair is touching
++ 0: touch state unknown (this is a new pair)
++ negative: pair is not touching
++
++ Default is 0
++ */
++ int hasTouch;
++
++ /*!
++ Identifies whether body 1 is kinematic. We can treat kinematics as statics and embed velocity into constraint
++ because kinematic bodies' velocities will not change
++ */
++ bool body1Kinematic;
++
++ /*
++ Index entries into the transform cache for shape 0
++ */
++ PxU32 transformCache0;
++
++ /*
++ Index entries into the transform cache for shape 1
++ */
++ PxU32 transformCache1;
++
++ PxvManagerDescRigidRigid()
++ {
++ PxMemSet(this, 0, sizeof(PxvManagerDescRigidRigid));
++
++ dominance0 = 1u;
++ dominance1 = 1u;
++ }
++ };
++
++
++ /*!
++ Report struct for contact manager touch reports
++ */
++ struct PxvContactManagerTouchEvent
++ {
++ void* userData;
++
++ // PT: only useful to search for places where we get/set this specific user data
++ PX_FORCE_INLINE void setCMTouchEventUserData(void* ud) { userData = ud; }
++ PX_FORCE_INLINE void* getCMTouchEventUserData() const { return userData; }
++ };
++
++ }
++
++ #endif
++