101 lines
3.3 KiB
C
101 lines
3.3 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_CONTACT_POINT_H
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#define PX_CONTACT_POINT_H
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#include "foundation/PxVec3.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxContactPoint
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{
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/**
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\brief The normal of the contacting surfaces at the contact point.
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For two shapes s0 and s1, the normal points in the direction that s0 needs to move in to resolve the contact with s1.
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*/
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PX_ALIGN(16, PxVec3 normal);
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/**
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\brief The separation of the shapes at the contact point. A negative separation denotes a penetration.
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*/
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PxReal separation;
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/**
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\brief The point of contact between the shapes, in world space.
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*/
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PX_ALIGN(16, PxVec3 point);
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/**
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\brief The max impulse permitted at this point
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*/
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PxReal maxImpulse;
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PX_ALIGN(16, PxVec3 targetVel);
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/**
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\brief The static friction coefficient
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*/
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PxReal staticFriction;
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/**
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\brief Material flags for this contact (eDISABLE_FRICTION, eDISABLE_STRONG_FRICTION). @see PxMaterialFlag
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*/
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PxU8 materialFlags;
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/**
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\brief The surface index of shape 1 at the contact point. This is used to identify the surface material.
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\note This field is only supported by triangle meshes and heightfields, else it will be set to PXC_CONTACT_NO_FACE_INDEX.
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\note This value must be directly after internalFaceIndex0 in memory
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*/
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PxU32 internalFaceIndex1;
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/**
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\brief The dynamic friction coefficient
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*/
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PxReal dynamicFriction;
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/**
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\brief The restitution coefficient
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*/
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PxReal restitution;
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PxReal damping;
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif
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