PxsContactManager.h

// 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_H

#define PXS_CONTACT_MANAGER_H

#include "PxPhysXConfig.h"

#include "PxcNpWorkUnit.h"

namespace physx

class PxsRigidBody;

namespace Dy

	class DynamicsContext;

namespace Sc

	class ShapeInteraction;

/**

\brief Additional header structure for CCD contact data stream.

*/

struct PxsCCDContactHeader

/**

	\brief Stream for next collision. The same pair can collide multiple times during multiple CCD passes.

*/

	PxsCCDContactHeader* nextStream;	//4    //8

/**

	\brief Size (in bytes) of the CCD contact stream (not including force buffer)

*/

	PxU16 contactStreamSize;			//6    //10

/**

	\brief Defines whether the stream is from a previous pass.

	It could happen that the stream can not get allocated because we run out of memory. In that case the current event should not use the stream

	from an event of the previous pass.

*/

	PxU16 isFromPreviousPass;			//8    //12

	PxU8 pad[12 - sizeof(PxsCCDContactHeader*)];	//16

};

PX_COMPILE_TIME_ASSERT((sizeof(PxsCCDContactHeader) & 0xF) == 0);

class PxsContactManager

public:

											PxsContactManager(PxU32 index);

											~PxsContactManager();

	PX_FORCE_INLINE	void					setDisableStrongFriction(PxU32 d)	{ (!d)	? mNpUnit.mFlags &= ~PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION

																						: mNpUnit.mFlags |= PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION; }

	PX_FORCE_INLINE	PxReal					getRestDistance()			const	{ return mNpUnit.mRestDistance;	}

	PX_FORCE_INLINE	void					setRestDistance(PxReal v)			{ mNpUnit.mRestDistance = v;	}

	PX_FORCE_INLINE	PxU8					getDominance0()				const	{ return mNpUnit.getDominance0();	}

	PX_FORCE_INLINE	void					setDominance0(PxU8 v)				{ mNpUnit.setDominance0(v);			}

	PX_FORCE_INLINE	PxU8					getDominance1()				const	{ return mNpUnit.getDominance1();	}

	PX_FORCE_INLINE	void					setDominance1(PxU8 v)				{ mNpUnit.setDominance1(v);			}

	PX_FORCE_INLINE	PxU16					getTouchStatus()			const	{ return PxU16(mNpUnit.mStatusFlags & PxcNpWorkUnitStatusFlag::eHAS_TOUCH); }

	PX_FORCE_INLINE	PxU16					touchStatusKnown()			const	{ return PxU16(mNpUnit.mStatusFlags & PxcNpWorkUnitStatusFlag::eTOUCH_KNOWN); }

	PX_FORCE_INLINE	PxI32					getTouchIdx()				const	{ return (mNpUnit.mStatusFlags & PxcNpWorkUnitStatusFlag::eHAS_TOUCH) ? 1 : (mNpUnit.mStatusFlags & PxcNpWorkUnitStatusFlag::eHAS_NO_TOUCH ? -1 : 0); }

	PX_FORCE_INLINE	PxU32					getIndex()					const	{ return mCmIndex;	}

	PX_FORCE_INLINE	PxU16					getHasCCDRetouch()			const	{ return PxU16(mNpUnit.mStatusFlags & PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH); }

	PX_FORCE_INLINE	void					clearCCDRetouch()					{ mNpUnit.mStatusFlags &= ~PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; }

	PX_FORCE_INLINE	void					raiseCCDRetouch()					{ mNpUnit.mStatusFlags |= PxcNpWorkUnitStatusFlag::eHAS_CCD_RETOUCH; }

	// flags stuff - needs to be refactored

	PX_FORCE_INLINE	PxIntBool				isChangeable()				const	{ return PxIntBool(mFlags & PXS_CM_CHANGEABLE);		}

	PX_FORCE_INLINE	PxIntBool				getCCD()					const	{ return PxIntBool((mFlags & PXS_CM_CCD_LINEAR) && (mNpUnit.mFlags & PxcNpWorkUnitFlag::eDETECT_CCD_CONTACTS)); }

	PX_FORCE_INLINE	PxIntBool				getHadCCDContact()			const	{ return PxIntBool(mFlags & PXS_CM_CCD_CONTACT); }

	PX_FORCE_INLINE	PxIntBool				isVisualizationEnabled()	const	{ return PxIntBool(mFlags & PXS_CM_VISUALIZATION); }

	PX_FORCE_INLINE	void					setHadCCDContact()					{ mFlags |= PXS_CM_CCD_CONTACT; }

					void					setCCD(bool enable);

	PX_FORCE_INLINE	void					clearCCDContactInfo()				{ mFlags &= ~PXS_CM_CCD_CONTACT; mNpUnit.mCCDContacts = NULL; }

	PX_FORCE_INLINE	PxcNpWorkUnit&			getWorkUnit()						{ return mNpUnit;	}

	PX_FORCE_INLINE	const PxcNpWorkUnit&	getWorkUnit()				const	{ return mNpUnit;	}

	PX_FORCE_INLINE	PxsRigidBody*			getRigidBody0()				const	{ return mRigidBody0;		}

	PX_FORCE_INLINE	PxsRigidBody*			getRigidBody1()				const	{ return mRigidBody1;		}

	PX_FORCE_INLINE	Sc::ShapeInteraction*	getShapeInteraction()		const	{ return mShapeInteraction; }

	// Setup solver-constraints

	PX_FORCE_INLINE	void					resetCachedState()

												// happens when the body transform or shape relative transform changes.

												mNpUnit.clearCachedState();

private:

					//KS - moving this up - we want to get at flags

					PxsRigidBody*			mRigidBody0;

					PxsRigidBody*			mRigidBody1;

					PxU32					mFlags;

					PxU32					mCmIndex;	// PT: moved to padding bytes from mNpUnit

					Sc::ShapeInteraction*	mShapeInteraction;

	// everything required for narrow phase to run

					PxcNpWorkUnit			mNpUnit;

	enum

		PXS_CM_CHANGEABLE	= (1 << 0),

		PXS_CM_CCD_LINEAR	= (1 << 1),

		PXS_CM_CCD_CONTACT	= (1 << 2),

		PXS_CM_VISUALIZATION	= (1 << 3)

};

	friend class Sc::ShapeInteraction;

};

#endif

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