PairFlags enum and reading pairHeader cstruct

pgo/pairFlags.go

@@ -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
+)

pgo/pgo.go

@@ -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)))
 }
 

pgo/physx-c/CPxContactPairHeader.h

@@ -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

pgo/wrap.c

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