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 PXS_CONTACT_MANAGER_STATE_H
++ #define PXS_CONTACT_MANAGER_STATE_H
++
++ #include "foundation/PxSimpleTypes.h"
++
++ namespace physx
++ {
++ /**
++ There is an implicit 1:1 mapping between PxgContactManagerInput and PxsContactManagerOutput. The structures are split because PxgNpContactManagerInput contains constant
++ data that is produced by the CPU code and PxgNpContactManagerOutput contains per-frame contact information produced by the NP.
++
++ There is also a 1:1 mapping between the PxgNpContactManager and PxsContactManager. This mapping is handled within the PxgNPhaseCore.
++
++ The previous contact states are implicitly cached in PxsContactManager and will be propagated to the solver. Friction correlation is also done implicitly using cached
++ information in PxsContactManager.
++ The NP will produce a list of pairs that found/lost patches for the solver along with updating the PxgNpContactManagerOutput for all pairs.
++ */
++ 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* frictionPatches; //Contact patches friction information
++ 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?
++ PxU8 pad[8];
++
++ PX_FORCE_INLINE PxU32* getInternalFaceIndice() const
++ {
++ return contactForces ? reinterpret_cast<PxU32*>(contactForces + nbContacts) : NULL;
++ }
++ }
++ PX_ALIGN_SUFFIX(16);
++ PX_COMPILE_TIME_ASSERT((sizeof(PxsContactManagerOutput) & 0xf) == 0);
++
++ 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(8) PxsTorsionalFrictionData
++ {
++ PxReal mTorsionalPatchRadius;
++ PxReal mMinTorsionalRadius;
++
++ PxsTorsionalFrictionData() {}
++ PxsTorsionalFrictionData(const PxReal patchRadius, const PxReal minPatchRadius) :
++ mTorsionalPatchRadius(patchRadius), mMinTorsionalRadius(minPatchRadius) {}
++ } PX_ALIGN_SUFFIX(8);
++ }
++
++ #endif