NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxContactStreamIterator Struct Reference

NVIDIA PhysX SDK 3.4 API

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PxContactStreamIterator Struct Reference

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:

Collaboration graph
PxVec3PxContactPxContactPatch
[legend]

List of all members.


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.
PX_CUDA_CALLABLE
PX_FORCE_INLINE bool 		hasNextPatch () const
 Returns whether there are more patches in this stream.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU32 		getTotalContactCount () const
 Returns the total contact count.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU32 		getTotalPatchCount () const
PX_CUDA_CALLABLE PX_INLINE void nextPatch ()
 Advances iterator to next contact patch.
PX_CUDA_CALLABLE
PX_FORCE_INLINE bool 		hasNextContact () const
 Returns if the current patch has more contacts.
PX_CUDA_CALLABLE
PX_FORCE_INLINE void 		nextContact ()
 Advances to the next contact in the patch.
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxVec3 & 		getContactNormal () const
 Gets the current contact's normal.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getInvMassScale0 () const
 Gets the inverse mass scale for body 0.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getInvMassScale1 () const
 Gets the inverse mass scale for body 1.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getInvInertiaScale0 () const
 Gets the inverse inertia scale for body 0.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getInvInertiaScale1 () const
 Gets the inverse inertia scale for body 1.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getMaxImpulse () const
 Gets the contact's max impulse.
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxVec3 & 		getTargetVel () const
 Gets the contact's target velocity.
PX_CUDA_CALLABLE
PX_FORCE_INLINE const PxVec3 & 		getContactPoint () const
 Gets the contact's contact point.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getSeparation () const
 Gets the contact's separation.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU32 		getFaceIndex0 () const
 Gets the contact's face index for shape 0.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU32 		getFaceIndex1 () const
 Gets the contact's face index for shape 1.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getStaticFriction () const
 Gets the contact's static friction coefficient.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getDynamicFriction () const
 Gets the contact's static dynamic coefficient.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxReal 		getRestitution () const
 Gets the contact's restitution coefficient.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU32 		getMaterialFlags () const
 Gets the contact's material flags.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU16 		getMaterialIndex0 () const
 Gets the contact's material index for shape 0.
PX_CUDA_CALLABLE
PX_FORCE_INLINE PxU16 		getMaterialIndex1 () const
 Gets the contact's material index for shape 1.
bool advanceToIndex (const PxU32 initialIndex)
 Advances the contact stream iterator to a specific contact index.

Public Attributes

PxVec3 zero
 Utility zero vector to optimize functions returning zero vectors when a certain flag isn't set.
const PxContactPatch * patch
 The patch headers.
const PxContact * contact
 The contacts.
const PxU32 * faceIndice
 The contact triangle face index.
PxU32 totalPatches
 The total number of patches in this contact stream.
PxU32 totalContacts
 The total number of contact points in this stream.
PxU32 nextContactIndex
 The current contact index.
PxU32 nextPatchIndex
 The current patch Index.
PxU32 contactPatchHeaderSize
PxU32 contactPointSize
 Contact point size.
StreamFormat mStreamFormat
 The stream format.
PxU32 forceNoResponse
 Indicates whether this stream is notify-only or not.
bool pointStepped
PxU32 hasFaceIndices

Private Member Functions

PX_CUDA_CALLABLE
PX_FORCE_INLINE const
PxContactPatch & 		getContactPatch () const
 Internal helper.
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

enum PxContactStreamIterator::StreamFormat

Enumerator:
eSIMPLE_STREAM 
eMODIFIABLE_STREAM 
eCOMPRESSED_MODIFIABLE_STREAM 

Constructor & Destructor Documentation

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

Constructor.

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

Member Function Documentation

bool PxContactStreamIterator::advanceToIndex ( const PxU32  initialIndex  )  [inline]

Advances the contact stream iterator to a specific contact index.

References PX_ASSERT.

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().

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxContactPatch& PxContactStreamIterator::getContactPatch (  )  const [inline, private]

Internal helper.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxContactStreamIterator::getContactPoint (  )  const [inline]

Gets the contact's contact point.

Returns:
The contact's contact point.

Referenced by PxContactPair::extractContacts().

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.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxExtendedContact& PxContactStreamIterator::getExtendedContact (  )  const [inline, private]

References PX_ASSERT.

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().

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.

References PXC_CONTACT_NO_FACE_INDEX.

Referenced by PxContactPair::extractContacts().

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.

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.

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.

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.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getMaterialFlags (  )  const [inline]

Gets the contact's material flags.

Returns:
The contact's material flags.

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.

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.

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.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxContactStreamIterator::getRestitution (  )  const [inline]

Gets the contact's restitution coefficient.

Returns:
The contact's restitution coefficient.

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().

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.

PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& PxContactStreamIterator::getTargetVel (  )  const [inline]

Gets the contact's target velocity.

Returns:
The contact's target velocity.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getTotalContactCount (  )  const [inline]

Returns the total contact count.

Returns:
Total contact count.

PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 PxContactStreamIterator::getTotalPatchCount (  )  const [inline]

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.

Referenced by PxContactPair::extractContacts().

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().

PX_CUDA_CALLABLE PX_FORCE_INLINE void PxContactStreamIterator::nextContact (  )  [inline]

Advances to the next contact in the patch.

References PX_ASSERT.

Referenced by PxContactPair::extractContacts().

PX_CUDA_CALLABLE PX_INLINE void PxContactStreamIterator::nextPatch (  )  [inline]

Advances iterator to next contact patch.

References PX_ASSERT.

Referenced by PxContactPair::extractContacts().

Member Data Documentation

const PxContact* PxContactStreamIterator::contact

The contacts.

PxU32 PxContactStreamIterator::contactPatchHeaderSize

PxU32 PxContactStreamIterator::contactPointSize

Contact point size.

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

const PxU32* PxContactStreamIterator::faceIndice

The contact triangle face index.

PxU32 PxContactStreamIterator::forceNoResponse

Indicates whether this stream is notify-only or not.

PxU32 PxContactStreamIterator::hasFaceIndices

StreamFormat PxContactStreamIterator::mStreamFormat

The stream format.

PxU32 PxContactStreamIterator::nextContactIndex

The current contact index.

PxU32 PxContactStreamIterator::nextPatchIndex

The current patch Index.

const PxContactPatch* PxContactStreamIterator::patch

The patch headers.

bool PxContactStreamIterator::pointStepped

PxU32 PxContactStreamIterator::totalContacts

The total number of contact points in this stream.

PxU32 PxContactStreamIterator::totalPatches

The total number of patches in this contact stream.

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:


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