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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 PX_CONTACTBUFFER_H
#define PX_CONTACTBUFFER_H
#include "PxPhysXConfig.h"
#include "geomutils/PxContactPoint.h"
#include "PxContact.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxContactBuffer
{
public:
static const PxU32 MAX_CONTACTS = 255;
PxContactPoint contacts[MAX_CONTACTS];
PxU32 count;
PxU32 pad;
PX_FORCE_INLINE void reset()
{
count = 0;
}
PX_FORCE_INLINE bool contact(const PxVec3& worldPoint, const PxVec3& worldNormalIn, PxReal separation, PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX)
{
PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);
if(count>=MAX_CONTACTS)
return false;
PxContactPoint& p = contacts[count++];
p.normal = worldNormalIn;
p.point = worldPoint;
p.separation = separation;
p.internalFaceIndex1= faceIndex1;
return true;
}
PX_FORCE_INLINE bool contact(const PxContactPoint& pt)
{
if(count>=MAX_CONTACTS)
return false;
contacts[count++] = pt;
return true;
}
PX_FORCE_INLINE PxContactPoint* contact()
{
if(count>=MAX_CONTACTS)
return NULL;
return &contacts[count++];
}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif