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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 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