DyCorrelationBuffer.h

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// 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 DY_CORRELATION_BUFFER_H

#define DY_CORRELATION_BUFFER_H

#include "foundation/PxSimpleTypes.h"

#include "foundation/PxVec3.h"

#include "foundation/PxTransform.h"

#include "foundation/PxBounds3.h"

#include "geomutils/PxContactBuffer.h"

#include "PxPhysXConfig.h"

#include "DyFrictionPatch.h"

namespace physx

namespace Dy

struct CorrelationBuffer

	static const PxU32 MAX_FRICTION_PATCHES = 32;

	static const PxU16 LIST_END = 0xffff;

	struct ContactPatchData

		PxBounds3	patchBounds;

		PxU32		boundsPadding;

		PxReal		staticFriction;

		PxReal		dynamicFriction;

		PxReal		restitution;

		PxU16		start;

		PxU16		next;

		PxU8		flags;

		PxU8		count;

};

	// we can have as many contact patches as contacts, unfortunately

	ContactPatchData	PX_ALIGN(16, contactPatches[PxContactBuffer::MAX_CONTACTS]);

	FrictionPatch		PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);

	PxVec3				PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);

	PxBounds3			patchBounds[MAX_FRICTION_PATCHES];

	PxU32				frictionPatchContactCounts[MAX_FRICTION_PATCHES];

	PxU32				correlationListHeads[MAX_FRICTION_PATCHES+1];

	// contact IDs are only used to identify auxiliary contact data when velocity

	// targets have been set.

	PxU16				contactID[MAX_FRICTION_PATCHES][2];

	PxU32				contactPatchCount, frictionPatchCount;

};

bool createContactPatches(CorrelationBuffer& fb, const PxContactPoint* cb, PxU32 contactCount, PxReal normalTolerance);

bool correlatePatches(CorrelationBuffer& fb,

					  const PxContactPoint* cb,

					  const PxTransform& bodyFrame0,

					  const PxTransform& bodyFrame1,

					  PxReal normalTolerance,

					  PxU32 startContactPatchIndex,

					  PxU32 startFrictionPatchIndex);

void growPatches(CorrelationBuffer& fb,

				 const PxContactPoint* buffer,

				 const PxTransform& bodyFrame0,

				 const PxTransform& bodyFrame1,

				 PxU32 frictionPatchStartIndex,

				 PxReal frictionOffsetThreshold);

// Removes empty friction patches (correlationListHeads == LIST_END) in [startFrictionPatchIndex, frictionPatchCount),

// compacting ALL per-patch arrays together so they stay index-aligned for downstream consumers.

void removeEmptyFrictionPatches(CorrelationBuffer& fb, PxU32 startFrictionPatchIndex);

#endif