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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #ifndef SC_DEFORMABLE_SURFACE_CORE
+ #define SC_DEFORMABLE_SURFACE_CORE
+
+ #include "foundation/PxPreprocessor.h"
+ #if PX_SUPPORT_GPU_PHYSX
+
+ #include "PxDeformableSurface.h"
+ #include "../../lowleveldynamics/include/DyDeformableSurfaceCore.h"
+ #include "foundation/PxAssert.h"
+ #include "ScActorCore.h"
+ #include "ScShapeCore.h"
+ #include "PxFiltering.h"
+ #include "ScRigidCore.h" //KS - required for ShapeChangeNotifyFlags. Ideally, we should move that to a separate shared file
+
+ namespace physx
+ {
+ namespace Sc
+ {
+
+ class DeformableSurfaceSim;
+
+ class DeformableSurfaceCore : public ActorCore
+ {
+ public:
+ // PX_SERIALIZATION
+ DeformableSurfaceCore(const PxEMPTY) : ActorCore(PxEmpty) {}
+ //~PX_SERIALIZATION
+ DeformableSurfaceCore();
+ ~DeformableSurfaceCore();
+
+ //---------------------------------------------------------------------------------
+ // PxActor API
+ //---------------------------------------------------------------------------------
+
+ void setActorFlags(PxActorFlags flags);
+ PxActorFlags getActorFlags() const { return mCore.actorFlags; }
+
+ //---------------------------------------------------------------------------------
+ // PxDeformableBody API
+ //---------------------------------------------------------------------------------
+
+ void setBodyFlags(PxDeformableBodyFlags flags);
+ PxDeformableBodyFlags getBodyFlags() const { return mCore.bodyFlags; }
+
+ void setLinearDamping(const PxReal linearDamping);
+ PxReal getLinearDamping() const { return mCore.linearDamping; }
+
+ void setMaxLinearVelocity(const PxReal maxLinearVelocity);
+ PxReal getMaxLinearVelocity() const { return mCore.maxLinearVelocity; }
+
+ void setMaxPenetrationBias(const PxReal maxPenetrationBias);
+ PxReal getMaxPenetrationBias() const { return mCore.maxPenetrationBias; }
+
+ void setSolverIterationCounts(PxU16 c);
+ PxU16 getSolverIterationCounts() const { return mCore.solverIterationCounts; }
+
+ void setSleepThreshold(const PxReal sleepThreshold);
+ PxReal getSleepThreshold() const { return mCore.sleepThreshold; }
+
+ void setSettlingThreshold(const PxReal settlingThreshold);
+ PxReal getSettlingThreshold() const { return mCore.settlingThreshold; }
+
+ void setSettlingDamping(const PxReal linearDamping);
+ PxReal getSettlingDamping() const { return mCore.settlingDamping; }
+
+ void setSelfCollisionFilterDistance(const PxReal selfCollisionFilterDistance);
+ PxReal getSelfCollisionFilterDistance() const { return mCore.selfCollisionFilterDistance; }
+
+ //deprecated
+ void setSelfCollisionStressTolerance(const PxReal selfCollisionStressTolerance);
+ PxReal getSelfCollisionStressTolerance() const { return mCore.selfCollisionStressTolerance; }
+
+ void setWakeCounter(const PxReal v);
+ void setWakeCounterInternal(const PxReal v);
+ PxReal getWakeCounter() const { return mCore.wakeCounter; }
+
+ //---------------------------------------------------------------------------------
+ // PxDeformableBody API
+ //---------------------------------------------------------------------------------
+
+ void setSurfaceFlags(PxDeformableSurfaceFlags flags);
+ PxDeformableSurfaceFlags getSurfaceFlags() const { return mCore.surfaceFlags; }
+
+ void setNbCollisionPairUpdatesPerTimestep(const PxU32 frequency);
+ PxU32 getNbCollisionPairUpdatesPerTimestep() const { return mCore.nbCollisionPairUpdatesPerTimestep; }
+
+ void setNbCollisionSubsteps(const PxU32 frequency);
+ PxU32 getNbCollisionSubsteps() const { return mCore.nbCollisionSubsteps; }
+
+ //---------------------------------------------------------------------------------
+ // Internal API
+ //---------------------------------------------------------------------------------
+
+ PxU32 addRigidAttachment(Sc::BodyCore* core, PxU32 vertId, const PxVec3& actorSpacePose);
+ void removeRigidAttachment(Sc::BodyCore* core, PxU32 handle);
+
+ void addTriRigidFilter(Sc::BodyCore* core, PxU32 triIdx);
+ void removeTriRigidFilter(Sc::BodyCore* core, PxU32 triIdx);
+
+ PxU32 addTriRigidAttachment(Sc::BodyCore* core, PxU32 triIdx, const PxVec4& barycentric,
+ const PxVec3& actorSpacePose);
+ void removeTriRigidAttachment(Sc::BodyCore* core, PxU32 handle);
+
+ void addClothFilter(Sc::DeformableSurfaceCore* otherCore, PxU32 otherTriIdx, PxU32 triIdx);
+ void removeClothFilter(Sc::DeformableSurfaceCore* otherCore, PxU32 otherTriIdx0, PxU32 triIdx);
+
+ PxU32 addClothAttachment(Sc::DeformableSurfaceCore* otherCore, PxU32 otherTriIdx, const PxVec4& otherTriBarycentric, PxU32 triIdx,
+ const PxVec4& triBarycentric);
+ void removeClothAttachment(Sc::DeformableSurfaceCore* otherCore, PxU32 handle);
+
+ void addMaterial(const PxU16 handle);
+ void clearMaterials();
+ PxActor* getPxActor() const;
+ void attachShapeCore(ShapeCore* shapeCore);
+ void onShapeChange(ShapeCore& shape, ShapeChangeNotifyFlags notifyFlags);
+ PX_FORCE_INLINE PxU64& getGpuMemStat() { return mGpuMemStat; }
+
+ DeformableSurfaceSim* getSim() const;
+ PX_FORCE_INLINE const Dy::DeformableSurfaceCore& getCore() const { return mCore; }
+ PX_FORCE_INLINE Dy::DeformableSurfaceCore& getCore() { return mCore; }
+
+ private:
+ Dy::DeformableSurfaceCore mCore;
+ PxU64 mGpuMemStat;
+ };
+
+ } // namespace Sc
+ } // namespace physx
+
+ #endif // PX_SUPPORT_GPU_PHYSX
+ #endif // SC_DEFORMABLE_SURFACE_CORE