A class to iterate over a compressed contact stream. This supports read-only access to the various contact formats. More...

#include <PxContact.h>

Collaboration diagram for PxContactStreamIterator:

[legend]

Public Types
enum	StreamFormat { eSIMPLE_STREAM, eMODIFIABLE_STREAM, eCOMPRESSED_MODIFIABLE_STREAM }

Public Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE	PxContactStreamIterator (const PxU8 contactPatches, const PxU8 contactPoints, const PxU32 *contactFaceIndices, PxU32 nbPatches, PxU32 nbContacts)
	Constructor. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE bool	hasNextPatch () const
	Returns whether there are more patches in this stream. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	getTotalContactCount () const
	Returns the total contact count. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	getTotalPatchCount () const

PX_CUDA_CALLABLE PX_INLINE void	nextPatch ()
	Advances iterator to next contact patch. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE bool	hasNextContact () const
	Returns if the current patch has more contacts. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE void	nextContact ()
	Advances to the next contact in the patch. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 &	getContactNormal () const
	Gets the current contact's normal. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getInvMassScale0 () const
	Gets the inverse mass scale for body 0. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getInvMassScale1 () const
	Gets the inverse mass scale for body 1. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getInvInertiaScale0 () const
	Gets the inverse inertia scale for body 0. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getInvInertiaScale1 () const
	Gets the inverse inertia scale for body 1. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getMaxImpulse () const
	Gets the contact's max impulse. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 &	getTargetVel () const
	Gets the contact's target velocity. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 &	getContactPoint () const
	Gets the contact's contact point. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getSeparation () const
	Gets the contact's separation. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	getFaceIndex0 () const
	Gets the contact's face index for shape 0. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	getFaceIndex1 () const
	Gets the contact's face index for shape 1. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getStaticFriction () const
	Gets the contact's static friction coefficient. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getDynamicFriction () const
	Gets the contact's static dynamic coefficient. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal	getRestitution () const
	Gets the contact's restitution coefficient. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32	getMaterialFlags () const
	Gets the contact's material flags. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16	getMaterialIndex0 () const
	Gets the contact's material index for shape 0. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16	getMaterialIndex1 () const
	Gets the contact's material index for shape 1. More...

bool	advanceToIndex (const PxU32 initialIndex)
	Advances the contact stream iterator to a specific contact index. More...

Public Attributes
PxVec3	zero
	Utility zero vector to optimize functions returning zero vectors when a certain flag isn't set. More...

const PxContactPatch *	patch
	The patch headers. More...

const PxContact *	contact
	The contacts. More...

const PxU32 *	faceIndice
	The contact triangle face index. More...

PxU32	totalPatches
	The total number of patches in this contact stream. More...

PxU32	totalContacts
	The total number of contact points in this stream. More...

PxU32	nextContactIndex
	The current contact index. More...

PxU32	nextPatchIndex
	The current patch Index. More...

PxU32	contactPatchHeaderSize

PxU32	contactPointSize
	Contact point size. More...

StreamFormat	mStreamFormat
	The stream format. More...

PxU32	forceNoResponse
	Indicates whether this stream is notify-only or not. More...

bool	pointStepped

PxU32	hasFaceIndices

Private Member Functions
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxContactPatch &	getContactPatch () const
	Internal helper. More...

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxExtendedContact &	getExtendedContact () const

Detailed Description

A class to iterate over a compressed contact stream. This supports read-only access to the various contact formats.

Member Enumeration Documentation

◆ StreamFormat

enum PxContactStreamIterator::StreamFormat

Enumerator
eSIMPLE_STREAM
eMODIFIABLE_STREAM
eCOMPRESSED_MODIFIABLE_STREAM

Constructor & Destructor Documentation

◆ PxContactStreamIterator()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxContactStreamIterator::PxContactStreamIterator	(	const PxU8 *	contactPatches,
		const PxU8 *	contactPoints,
		const PxU32 *	contactFaceIndices,
		PxU32	nbPatches,
		PxU32	nbContacts
	)

inline

Constructor.

References contact, PxContactPatch::eCOMPRESSED_MODIFIED_CONTACT, PxContactPatch::eFORCE_NO_RESPONSE, PxContactPatch::eHAS_FACE_INDICES, PxContactPatch::eMODIFIABLE, PxContactPatch::internalFlags, and nbContacts.

Member Function Documentation

◆ advanceToIndex()

bool PxContactStreamIterator::advanceToIndex ( const PxU32 initialIndex )

inline

Advances the contact stream iterator to a specific contact index.

References contact, PxContactPatch::nbContacts, and PX_ASSERT.

◆ getContactNormal()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxContactStreamIterator::getContactNormal ( ) const

inline

Gets the current contact's normal.

Returns: The current contact's normal.

Referenced by PxContactPair::extractContacts().

◆ getContactPatch()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxContactPatch& PxContactStreamIterator::getContactPatch ( ) const

inlineprivate

Internal helper.

◆ getContactPoint()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxContactStreamIterator::getContactPoint ( ) const

inline

Gets the contact's contact point.

Returns: The contact's contact point.

References contact.

Referenced by PxContactPair::extractContacts().

◆ getDynamicFriction()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getDynamicFriction ( ) const

inline

Gets the contact's static dynamic coefficient.

Returns: The contact's static dynamic coefficient.

◆ getExtendedContact()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxExtendedContact& PxContactStreamIterator::getExtendedContact ( ) const

inlineprivate

References contact, and PX_ASSERT.

◆ getFaceIndex0()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getFaceIndex0 ( ) const

inline

Gets the contact's face index for shape 0.

Returns: The contact's face index for shape 0.

References PXC_CONTACT_NO_FACE_INDEX.

Referenced by PxContactPair::extractContacts().

◆ getFaceIndex1()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getFaceIndex1 ( ) const

inline

Gets the contact's face index for shape 1.

Returns: The contact's face index for shape 1.

Referenced by PxContactPair::extractContacts().

◆ getInvInertiaScale0()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getInvInertiaScale0 ( ) const

inline

Gets the inverse inertia scale for body 0.

Returns: The inverse inertia scale for body 0.

◆ getInvInertiaScale1()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getInvInertiaScale1 ( ) const

inline

Gets the inverse inertia scale for body 1.

Returns: The inverse inertia scale for body 1.

◆ getInvMassScale0()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getInvMassScale0 ( ) const

inline

Gets the inverse mass scale for body 0.

Returns: The inverse mass scale for body 0.

◆ getInvMassScale1()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getInvMassScale1 ( ) const

inline

Gets the inverse mass scale for body 1.

Returns: The inverse mass scale for body 1.

◆ getMaterialFlags()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getMaterialFlags ( ) const

inline

Gets the contact's material flags.

Returns: The contact's material flags.

◆ getMaterialIndex0()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16 PxContactStreamIterator::getMaterialIndex0 ( ) const

inline

Gets the contact's material index for shape 0.

Returns: The contact's material index for shape 0.

References materialIndex0.

◆ getMaterialIndex1()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16 PxContactStreamIterator::getMaterialIndex1 ( ) const

inline

Gets the contact's material index for shape 1.

Returns: The contact's material index for shape 1.

References materialIndex1.

◆ getMaxImpulse()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getMaxImpulse ( ) const

inline

Gets the contact's max impulse.

Returns: The contact's max impulse.

References PX_MAX_REAL.

◆ getRestitution()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getRestitution ( ) const

inline

Gets the contact's restitution coefficient.

Returns: The contact's restitution coefficient.

◆ getSeparation()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getSeparation ( ) const

inline

Gets the contact's separation.

Returns: The contact's separation.

Referenced by PxContactPair::extractContacts().

◆ getStaticFriction()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getStaticFriction ( ) const

inline

Gets the contact's static friction coefficient.

Returns: The contact's static friction coefficient.

◆ getTargetVel()

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxContactStreamIterator::getTargetVel ( ) const

inline

Gets the contact's target velocity.

Returns: The contact's target velocity.

◆ getTotalContactCount()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getTotalContactCount ( ) const

inline

Returns the total contact count.

Returns: Total contact count.

◆ getTotalPatchCount()

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getTotalPatchCount ( ) const

inline

◆ hasNextContact()

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxContactStreamIterator::hasNextContact ( ) const

inline

Returns if the current patch has more contacts.

Returns: If there are more contacts in the current patch.

References PxContactPatch::nbContacts.

Referenced by PxContactPair::extractContacts().

◆ hasNextPatch()

PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxContactStreamIterator::hasNextPatch ( ) const

inline

Returns whether there are more patches in this stream.

Returns: Whether there are more patches in this stream.

Referenced by PxContactPair::extractContacts().

◆ nextContact()

PX_CUDA_CALLABLE PX_FORCE_INLINE void PxContactStreamIterator::nextContact ( )

inline

Advances to the next contact in the patch.

References contact, nbContacts, and PX_ASSERT.

Referenced by PxContactPair::extractContacts().

◆ nextPatch()

PX_CUDA_CALLABLE PX_INLINE void PxContactStreamIterator::nextPatch ( )

inline

Advances iterator to next contact patch.

References contact, PxContactPatch::nbContacts, nbContacts, and PX_ASSERT.

Referenced by PxContactPair::extractContacts().

Member Data Documentation

◆ contact

const PxContact* PxContactStreamIterator::contact

The contacts.

◆ contactPatchHeaderSize

PxU32 PxContactStreamIterator::contactPatchHeaderSize

◆ contactPointSize

PxU32 PxContactStreamIterator::contactPointSize

Contact point size.

Note: This varies whether the patch has feature indices or is modifiable.

◆ faceIndice

const PxU32* PxContactStreamIterator::faceIndice

The contact triangle face index.

◆ forceNoResponse

PxU32 PxContactStreamIterator::forceNoResponse

Indicates whether this stream is notify-only or not.

◆ hasFaceIndices

PxU32 PxContactStreamIterator::hasFaceIndices

◆ mStreamFormat

StreamFormat PxContactStreamIterator::mStreamFormat

The stream format.

◆ nextContactIndex

PxU32 PxContactStreamIterator::nextContactIndex

The current contact index.

◆ nextPatchIndex

PxU32 PxContactStreamIterator::nextPatchIndex

The current patch Index.

◆ patch

const PxContactPatch* PxContactStreamIterator::patch

The patch headers.

◆ pointStepped

bool PxContactStreamIterator::pointStepped

◆ totalContacts

PxU32 PxContactStreamIterator::totalContacts

The total number of contact points in this stream.

◆ totalPatches

PxU32 PxContactStreamIterator::totalPatches

The total number of patches in this contact stream.

◆ zero

PxVec3 PxContactStreamIterator::zero

Utility zero vector to optimize functions returning zero vectors when a certain flag isn't set.

Note: This allows us to return by reference instead of having to return by value. Returning by value will go via memory (registers -> stack -> registers), which can cause performance issues on certain platforms.

The documentation for this struct was generated from the following file:

PxContact.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

◆ StreamFormat

Constructor & Destructor Documentation

◆ PxContactStreamIterator()

Member Function Documentation

◆ advanceToIndex()

◆ getContactNormal()

◆ getContactPatch()

◆ getContactPoint()

◆ getDynamicFriction()

◆ getExtendedContact()

◆ getFaceIndex0()

◆ getFaceIndex1()

◆ getInvInertiaScale0()

◆ getInvInertiaScale1()

◆ getInvMassScale0()

◆ getInvMassScale1()

◆ getMaterialFlags()

◆ getMaterialIndex0()

◆ getMaterialIndex1()

◆ getMaxImpulse()

◆ getRestitution()

◆ getSeparation()

◆ getStaticFriction()

◆ getTargetVel()

◆ getTotalContactCount()

◆ getTotalPatchCount()

◆ hasNextContact()

◆ hasNextPatch()

◆ nextContact()

◆ nextPatch()

Member Data Documentation

◆ contact

◆ contactPatchHeaderSize

◆ contactPointSize

◆ faceIndice

◆ forceNoResponse

◆ hasFaceIndices

◆ mStreamFormat

◆ nextContactIndex

◆ nextPatchIndex

◆ patch

◆ pointStepped

◆ totalContacts

◆ totalPatches

◆ zero