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 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 ElementSimInteraction;
++ class ActorSim;
++
++ 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;
++ };
++
++ struct FrictionAnchor
++ {
++ PxVec3 normal;
++ PxVec3 point;
++ PxVec3 impulse;
++ };
++
++ class ContactIterator
++ {
++ public:
++
++ class Pair
++ {
++ public:
++ Pair() : mIter(NULL, NULL, NULL, 0, 0), mAnchorIter(NULL, NULL, 0) {}
++ Pair(const void*& contactPatches, const void*& contactPoints, const void*& frictionPatches, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSimBase& shape0, ShapeSimBase& shape1, ActorSim* actor0, ActorSim* actor1);
++ Contact* getNextContact();
++ FrictionAnchor* getNextFrictionAnchor();
++ PxActor* getActor0() { return mActor0; }
++ PxActor* getActor1() { return mActor1; }
++
++ private:
++ PxU32 mIndex;
++ PxU32 mNumContacts;
++ PxContactStreamIterator mIter;
++ PxFrictionAnchorStreamIterator mAnchorIter;
++ const PxReal* mForces;
++ Contact mCurrentContact;
++ FrictionAnchor mCurrentAnchor;
++ PxActor* mActor0;
++ PxActor* mActor1;
++ };
++
++ ContactIterator() {}
++ explicit ContactIterator(ElementSimInteraction** first, ElementSimInteraction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs)
++ {
++ if ((!first) || (!last) || (first == last))
++ {
++ mCurrent = NULL;
++ mLast = NULL;
++ }
++ }
++ Pair* getNextPair();
++ private:
++ ElementSimInteraction** mCurrent;
++ ElementSimInteraction** mLast;
++ Pair mCurrentPair;
++ PxU32 mOffset;
++ PxsContactManagerOutputIterator* mOutputs;
++
++ private:
++ };
++
++ } // namespace Sc
++
++ }
++
++ #endif