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PairFlags enum and reading pairHeader cstruct

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bloeys
2022-02-14 09:46:10 +04:00
parent 2831edb9d4
commit d118b82ce6
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218
pgo/pairFlags.go Executable file
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@ -0,0 +1,218 @@
package pgo
type PairFlags uint32
const (
/**
\brief Process the contacts of this collision pair in the dynamics solver.
\note Only takes effect if the colliding actors are rigid bodies.
*/
PairFlags_eSOLVE_CONTACT PairFlags = (1 << 0)
/**
\brief Call contact modification callback for this collision pair
\note Only takes effect if the colliding actors are rigid bodies.
@see PxContactModifyCallback
*/
PairFlags_eMODIFY_CONTACTS PairFlags = (1 << 1)
/**
\brief Call contact report callback or trigger callback when this collision pair starts to be in contact.
If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
then the trigger callback will get called as soon as the other object enters the trigger volume.
If none of the two collision objects is a trigger shape then the contact report callback will get
called when the actors of this collision pair start to be in contact.
\note Only takes effect if the colliding actors are rigid bodies.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
PairFlags_eNOTIFY_TOUCH_FOUND PairFlags = (1 << 2)
/**
\brief Call contact report callback while this collision pair is in contact
If none of the two collision objects is a trigger shape then the contact report callback will get
called while the actors of this collision pair are in contact.
\note Triggers do not support this event. Persistent trigger contacts need to be tracked separately by observing eNOTIFY_TOUCH_FOUND/eNOTIFY_TOUCH_LOST events.
\note Only takes effect if the colliding actors are rigid bodies.
\note No report will get sent if the objects in contact are sleeping.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
\note If this flag gets enabled while a pair is in touch already, there will be no eNOTIFY_TOUCH_PERSISTS events until the pair loses and regains touch.
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
PairFlags_eNOTIFY_TOUCH_PERSISTS PairFlags = (1 << 3)
/**
\brief Call contact report callback or trigger callback when this collision pair stops to be in contact
If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
then the trigger callback will get called as soon as the other object leaves the trigger volume.
If none of the two collision objects is a trigger shape then the contact report callback will get
called when the actors of this collision pair stop to be in contact.
\note Only takes effect if the colliding actors are rigid bodies.
\note This event will also get triggered if one of the colliding objects gets deleted.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
PairFlags_eNOTIFY_TOUCH_LOST PairFlags = (1 << 4)
/**
\brief Call contact report callback when this collision pair is in contact during CCD passes.
If CCD with multiple passes is enabled, then a fast moving object might bounce on and off the same
object multiple times. Hence, the same pair might be in contact multiple times during a simulation step.
This flag will make sure that all the detected collision during CCD will get reported. For performance
reasons, the system can not always tell whether the contact pair lost touch in one of the previous CCD
passes and thus can also not always tell whether the contact is new or has persisted. eNOTIFY_TOUCH_CCD
just reports when the two collision objects were detected as being in contact during a CCD pass.
\note Only takes effect if the colliding actors are rigid bodies.
\note Trigger shapes are not supported.
\note Only takes effect if eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
PairFlags_eNOTIFY_TOUCH_CCD PairFlags = (1 << 5)
/**
\brief Call contact report callback when the contact force between the actors of this collision pair exceeds one of the actor-defined force thresholds.
\note Only takes effect if the colliding actors are rigid bodies.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
PairFlags_eNOTIFY_THRESHOLD_FORCE_FOUND PairFlags = (1 << 6)
/**
\brief Call contact report callback when the contact force between the actors of this collision pair continues to exceed one of the actor-defined force thresholds.
\note Only takes effect if the colliding actors are rigid bodies.
\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND has been set in the previous frame).
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
PairFlags_eNOTIFY_THRESHOLD_FORCE_PERSISTS PairFlags = (1 << 7)
/**
\brief Call contact report callback when the contact force between the actors of this collision pair falls below one of the actor-defined force thresholds (includes the case where this collision pair stops being in contact).
\note Only takes effect if the colliding actors are rigid bodies.
\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND or #eNOTIFY_THRESHOLD_FORCE_PERSISTS has been set in the previous frame).
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
PairFlags_eNOTIFY_THRESHOLD_FORCE_LOST PairFlags = (1 << 8)
/**
\brief Provide contact points in contact reports for this collision pair.
\note Only takes effect if the colliding actors are rigid bodies and if used in combination with the flags eNOTIFY_TOUCH_... or eNOTIFY_THRESHOLD_FORCE_...
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxContactPair PxContactPair.extractContacts()
*/
PairFlags_eNOTIFY_CONTACT_POINTS PairFlags = (1 << 9)
/**
\brief This flag is used to indicate whether this pair generates discrete collision detection contacts.
\note Contacts are only responded to if eSOLVE_CONTACT is enabled.
*/
PairFlags_eDETECT_DISCRETE_CONTACT PairFlags = (1 << 10)
/**
\brief This flag is used to indicate whether this pair generates CCD contacts.
\note The contacts will only be responded to if eSOLVE_CONTACT is enabled on this pair.
\note The scene must have PxSceneFlag::eENABLE_CCD enabled to use this feature.
\note Non-static bodies of the pair should have PxRigidBodyFlag::eENABLE_CCD specified for this feature to work correctly.
\note This flag is not supported with trigger shapes. However, CCD trigger events can be emulated using non-trigger shapes
and requesting eNOTIFY_TOUCH_FOUND and eNOTIFY_TOUCH_LOST and not raising eSOLVE_CONTACT on the pair.
@see PxRigidBodyFlag::eENABLE_CCD
@see PxSceneFlag::eENABLE_CCD
*/
PairFlags_eDETECT_CCD_CONTACT PairFlags = (1 << 11)
/**
\brief Provide pre solver velocities in contact reports for this collision pair.
If the collision pair has contact reports enabled, the velocities of the rigid bodies before contacts have been solved
will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
\note Usually it is not necessary to request these velocities as they will be available by querying the velocity from the provided
PxRigidActor object directly. However, it might be the case that the velocity of a rigid body gets set while the simulation is running
in which case the PxRigidActor would return this new velocity in the contact report callback and not the velocity the simulation used.
@see PxSimulationEventCallback.onContact() PxContactPairVelocity, PxContactPairHeader.extraDataStream
*/
PairFlags_ePRE_SOLVER_VELOCITY PairFlags = (1 << 12)
/**
\brief Provide post solver velocities in contact reports for this collision pair.
If the collision pair has contact reports enabled, the velocities of the rigid bodies after contacts have been solved
will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
*/
PairFlags_ePOST_SOLVER_VELOCITY PairFlags = (1 << 13)
/**
\brief Provide rigid body poses in contact reports for this collision pair.
If the collision pair has contact reports enabled, the rigid body poses at the contact event will be provided
in the contact report callback unless the pair lost touch in which case no data will be provided.
\note Usually it is not necessary to request these poses as they will be available by querying the pose from the provided
PxRigidActor object directly. However, it might be the case that the pose of a rigid body gets set while the simulation is running
in which case the PxRigidActor would return this new pose in the contact report callback and not the pose the simulation used.
Another use case is related to CCD with multiple passes enabled, A fast moving object might bounce on and off the same
object multiple times. This flag can be used to request the rigid body poses at the time of impact for each such collision event.
@see PxSimulationEventCallback.onContact(), PxContactPairPose, PxContactPairHeader.extraDataStream
*/
PairFlags_eCONTACT_EVENT_POSE PairFlags = (1 << 14)
PairFlags_eNEXT_FREE PairFlags = (1 << 15) //!< For internal use only.
/**
\brief Provided default flag to do simple contact processing for this collision pair.
*/
PairFlags_eCONTACT_DEFAULT PairFlags = PairFlags_eSOLVE_CONTACT | PairFlags_eDETECT_DISCRETE_CONTACT
/**
\brief Provided default flag to get commonly used trigger behavior for this collision pair.
*/
PairFlags_eTRIGGER_DEFAULT PairFlags = PairFlags_eNOTIFY_TOUCH_FOUND | PairFlags_eNOTIFY_TOUCH_LOST | PairFlags_eDETECT_DISCRETE_CONTACT
)

13
pgo/pgo.go
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@ -265,10 +265,21 @@ func (sd *SceneDesc) SetCpuDispatcher(cd *CpuDispatcher) {
//export goOnContactCallback
func goOnContactCallback(p unsafe.Pointer) {
println("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
cph := (*C.struct_CPxContactPairHeader)(p)
pairs := cph.pairs
if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_FOUND) {
println("touch")
} else if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_PERSISTS) {
println("persist")
} else if pairs.events == uint32(PairFlags_eNOTIFY_TOUCH_LOST) {
println("leave")
}
}
func (sd *SceneDesc) SetOnContactCallback() {
C.CPxSceneDesc_set_onContactCallback(sd.cSD, (C.CPxonContactCallback)(unsafe.Pointer(C.goOnContactCallback_cgo)))
}

329
pgo/physx-c/CPxContactPairHeader.h Executable file
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@ -0,0 +1,329 @@
#ifndef CPxContactPairHeader_H
#define CPxContactPairHeader_H
#include "CPxShape.h"
#include "CPxRigidActor.h"
#ifdef __cplusplus
extern "C" {
#endif
enum CPxContactPairFlag
{
/**
\brief The shape with index 0 has been removed from the actor/scene.
*/
CPxContactPairFlag_eREMOVED_SHAPE_0 = (1 << 0),
/**
\brief The shape with index 1 has been removed from the actor/scene.
*/
CPxContactPairFlag_eREMOVED_SHAPE_1 = (1 << 1),
/**
\brief First actor pair contact.
The provided shape pair marks the first contact between the two actors, no other shape pair has been touching prior to the current simulation frame.
\note: This info is only available if #PxPairFlag::eNOTIFY_TOUCH_FOUND has been declared for the pair.
*/
CPxContactPairFlag_eACTOR_PAIR_HAS_FIRST_TOUCH = (1 << 2),
/**
\brief All contact between the actor pair was lost.
All contact between the two actors has been lost, no shape pairs remain touching after the current simulation frame.
*/
CPxContactPairFlag_eACTOR_PAIR_LOST_TOUCH = (1 << 3),
/**
\brief Internal flag, used by #PxContactPair.extractContacts()
The applied contact impulses are provided for every contact point.
This is the case if #PxPairFlag::eSOLVE_CONTACT has been set for the pair.
*/
CPxContactPairFlag_eINTERNAL_HAS_IMPULSES = (1 << 4),
/**
\brief Internal flag, used by #PxContactPair.extractContacts()
The provided contact point information is flipped with regards to the shapes of the contact pair. This mainly concerns the order of the internal triangle indices.
*/
CPxContactPairFlag_eINTERNAL_CONTACTS_ARE_FLIPPED = (1 << 5)
};
enum CPxPairFlags
{
/**
\brief Process the contacts of this collision pair in the dynamics solver.
\note Only takes effect if the colliding actors are rigid bodies.
*/
CPxPairFlags_eSOLVE_CONTACT = (1 << 0),
/**
\brief Call contact modification callback for this collision pair
\note Only takes effect if the colliding actors are rigid bodies.
@see PxContactModifyCallback
*/
CPxPairFlags_eMODIFY_CONTACTS = (1 << 1),
/**
\brief Call contact report callback or trigger callback when this collision pair starts to be in contact.
If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
then the trigger callback will get called as soon as the other object enters the trigger volume.
If none of the two collision objects is a trigger shape then the contact report callback will get
called when the actors of this collision pair start to be in contact.
\note Only takes effect if the colliding actors are rigid bodies.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
CPxPairFlags_eNOTIFY_TOUCH_FOUND = (1 << 2),
/**
\brief Call contact report callback while this collision pair is in contact
If none of the two collision objects is a trigger shape then the contact report callback will get
called while the actors of this collision pair are in contact.
\note Triggers do not support this event. Persistent trigger contacts need to be tracked separately by observing eNOTIFY_TOUCH_FOUND/eNOTIFY_TOUCH_LOST events.
\note Only takes effect if the colliding actors are rigid bodies.
\note No report will get sent if the objects in contact are sleeping.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
\note If this flag gets enabled while a pair is in touch already, there will be no eNOTIFY_TOUCH_PERSISTS events until the pair loses and regains touch.
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
CPxPairFlags_eNOTIFY_TOUCH_PERSISTS = (1 << 3),
/**
\brief Call contact report callback or trigger callback when this collision pair stops to be in contact
If one of the two collision objects is a trigger shape (see #PxShapeFlag::eTRIGGER_SHAPE)
then the trigger callback will get called as soon as the other object leaves the trigger volume.
If none of the two collision objects is a trigger shape then the contact report callback will get
called when the actors of this collision pair stop to be in contact.
\note Only takes effect if the colliding actors are rigid bodies.
\note This event will also get triggered if one of the colliding objects gets deleted.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
CPxPairFlags_eNOTIFY_TOUCH_LOST = (1 << 4),
/**
\brief Call contact report callback when this collision pair is in contact during CCD passes.
If CCD with multiple passes is enabled, then a fast moving object might bounce on and off the same
object multiple times. Hence, the same pair might be in contact multiple times during a simulation step.
This flag will make sure that all the detected collision during CCD will get reported. For performance
reasons, the system can not always tell whether the contact pair lost touch in one of the previous CCD
passes and thus can also not always tell whether the contact is new or has persisted. eNOTIFY_TOUCH_CCD
just reports when the two collision objects were detected as being in contact during a CCD pass.
\note Only takes effect if the colliding actors are rigid bodies.
\note Trigger shapes are not supported.
\note Only takes effect if eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxSimulationEventCallback.onTrigger()
*/
CPxPairFlags_eNOTIFY_TOUCH_CCD = (1 << 5),
/**
\brief Call contact report callback when the contact force between the actors of this collision pair exceeds one of the actor-defined force thresholds.
\note Only takes effect if the colliding actors are rigid bodies.
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_FOUND = (1 << 6),
/**
\brief Call contact report callback when the contact force between the actors of this collision pair continues to exceed one of the actor-defined force thresholds.
\note Only takes effect if the colliding actors are rigid bodies.
\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND has been set in the previous frame).
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_PERSISTS = (1 << 7),
/**
\brief Call contact report callback when the contact force between the actors of this collision pair falls below one of the actor-defined force thresholds (includes the case where this collision pair stops being in contact).
\note Only takes effect if the colliding actors are rigid bodies.
\note If a pair gets re-filtered and this flag has previously been disabled, then the report will not get fired in the same frame even if the force threshold has been reached in the
previous one (unless #eNOTIFY_THRESHOLD_FORCE_FOUND or #eNOTIFY_THRESHOLD_FORCE_PERSISTS has been set in the previous frame).
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact()
*/
CPxPairFlags_eNOTIFY_THRESHOLD_FORCE_LOST = (1 << 8),
/**
\brief Provide contact points in contact reports for this collision pair.
\note Only takes effect if the colliding actors are rigid bodies and if used in combination with the flags eNOTIFY_TOUCH_... or eNOTIFY_THRESHOLD_FORCE_...
\note Only takes effect if eDETECT_DISCRETE_CONTACT or eDETECT_CCD_CONTACT is raised
@see PxSimulationEventCallback.onContact() PxContactPair PxContactPair.extractContacts()
*/
CPxPairFlags_eNOTIFY_CONTACT_POINTS = (1 << 9),
/**
\brief This flag is used to indicate whether this pair generates discrete collision detection contacts.
\note Contacts are only responded to if eSOLVE_CONTACT is enabled.
*/
CPxPairFlags_eDETECT_DISCRETE_CONTACT = (1 << 10),
/**
\brief This flag is used to indicate whether this pair generates CCD contacts.
\note The contacts will only be responded to if eSOLVE_CONTACT is enabled on this pair.
\note The scene must have PxSceneFlag::eENABLE_CCD enabled to use this feature.
\note Non-static bodies of the pair should have PxRigidBodyFlag::eENABLE_CCD specified for this feature to work correctly.
\note This flag is not supported with trigger shapes. However, CCD trigger events can be emulated using non-trigger shapes
and requesting eNOTIFY_TOUCH_FOUND and eNOTIFY_TOUCH_LOST and not raising eSOLVE_CONTACT on the pair.
@see PxRigidBodyFlag::eENABLE_CCD
@see PxSceneFlag::eENABLE_CCD
*/
CPxPairFlags_eDETECT_CCD_CONTACT = (1 << 11),
/**
\brief Provide pre solver velocities in contact reports for this collision pair.
If the collision pair has contact reports enabled, the velocities of the rigid bodies before contacts have been solved
will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
\note Usually it is not necessary to request these velocities as they will be available by querying the velocity from the provided
PxRigidActor object directly. However, it might be the case that the velocity of a rigid body gets set while the simulation is running
in which case the PxRigidActor would return this new velocity in the contact report callback and not the velocity the simulation used.
@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
*/
CPxPairFlags_ePRE_SOLVER_VELOCITY = (1 << 12),
/**
\brief Provide post solver velocities in contact reports for this collision pair.
If the collision pair has contact reports enabled, the velocities of the rigid bodies after contacts have been solved
will be provided in the contact report callback unless the pair lost touch in which case no data will be provided.
@see PxSimulationEventCallback.onContact(), PxContactPairVelocity, PxContactPairHeader.extraDataStream
*/
CPxPairFlags_ePOST_SOLVER_VELOCITY = (1 << 13),
/**
\brief Provide rigid body poses in contact reports for this collision pair.
If the collision pair has contact reports enabled, the rigid body poses at the contact event will be provided
in the contact report callback unless the pair lost touch in which case no data will be provided.
\note Usually it is not necessary to request these poses as they will be available by querying the pose from the provided
PxRigidActor object directly. However, it might be the case that the pose of a rigid body gets set while the simulation is running
in which case the PxRigidActor would return this new pose in the contact report callback and not the pose the simulation used.
Another use case is related to CCD with multiple passes enabled, A fast moving object might bounce on and off the same
object multiple times. This flag can be used to request the rigid body poses at the time of impact for each such collision event.
@see PxSimulationEventCallback.onContact(), PxContactPairPose, PxContactPairHeader.extraDataStream
*/
CPxPairFlags_eCONTACT_EVENT_POSE = (1 << 14),
CPxPairFlags_eNEXT_FREE = (1 << 15), //!< For internal use only.
/**
\brief Provided default flag to do simple contact processing for this collision pair.
*/
CPxPairFlags_eCONTACT_DEFAULT = CPxPairFlags_eSOLVE_CONTACT | CPxPairFlags_eDETECT_DISCRETE_CONTACT,
/**
\brief Provided default flag to get commonly used trigger behavior for this collision pair.
*/
CPxPairFlags_eTRIGGER_DEFAULT = CPxPairFlags_eNOTIFY_TOUCH_FOUND | CPxPairFlags_eNOTIFY_TOUCH_LOST | CPxPairFlags_eDETECT_DISCRETE_CONTACT
};
//TODO: uintxx_t not available again
struct CPxContactPair
{
CSTRUCT CPxShape shapes[2];
char* contactPatches;
//const PxU8* contactPatches;
char* contactPoints;
//const PxU8* contactPoints;
CPxReal* contactImpulses;
unsigned int requiredBufferSize;
//CPxU32 requiredBufferSize;
char contactCount;
//PxU8 contactCount;
char patchCount;
//PxU8 patchCount;
short contactStreamSize;
//PxU16 contactStreamSize;
CENUM CPxContactPairFlag flags;
CENUM CPxPairFlags events;
};
enum CPxContactPairHeaderFlag
{
CPxContactPairHeaderFlag_eREMOVED_ACTOR_0 = (1 << 0), //!< The actor with index 0 has been removed from the scene.
CPxContactPairHeaderFlag_eREMOVED_ACTOR_1 = (1 << 1) //!< The actor with index 1 has been removed from the scene.
};
struct CPxContactPairHeader
{
CSTRUCT CPxRigidActor actors[2];
char* extraDataStream;
short extraDataStreamSize;
/*CPxU8* extraDataStream;
CPxU16 extraDataStreamSize;*/
CENUM CPxContactPairHeaderFlag flags;
CSTRUCT CPxContactPair* pairs;
unsigned int nbPairs;
//CPxU32 nbPairs;
};
#ifdef __cplusplus
}
#endif
#endif // !1

4
pgo/wrap.c
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@ -34,4 +34,6 @@
#include <CPxSphereGeometry.h>
#include <CPxCapsuleGeometry.h>
#include <CPxSimpleFactory.h>
#include <CPxSimpleFactory.h>
#include <CPxContactPairHeader.h>