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physx/source/lowlevel/software/include/PxsMaterialCombiner.h

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef PXS_MATERIALCOMBINER_H
+#define PXS_MATERIALCOMBINER_H
+
+#include "PxsMaterialCore.h"
+
+namespace physx
+{
+
+	class PxsMaterialCombiner
+	{
+	public:
+
+		class PxsCombinedMaterial
+		{
+		public:
+			PxReal staFriction;
+			PxReal dynFriction;
+			PxU32  flags;	//PxMaterialFlag::eDISABLE_FRICTION, PxMaterialFlag::eDISABLE_STRONG_FRICTION.
+		};
+
+		static PxReal combineRestitution(const PxsMaterialData& material0, const PxsMaterialData& material1);
+
+		PxsMaterialCombiner(PxReal staticFrictionScaling, PxReal dynamicFrictionScaling);
+
+		PxsCombinedMaterial combineIsotropicFriction(const PxsMaterialData& material0, const PxsMaterialData& material1);
+
+		//ML:: move this function to header file to avoid LHS in Xbox
+		PX_FORCE_INLINE void combineIsotropicFriction(const PxsMaterialData& mat0, const PxsMaterialData& mat1, PxReal& dynamicFriction, PxReal& staticFriction, PxU32& flags)
+		{
+		
+			const PxU32 combineFlags= (mat0.flags | mat1.flags); //& (PxMaterialFlag::eDISABLE_STRONG_FRICTION|PxMaterialFlag::eDISABLE_FRICTION);	//eventually set DisStrongFric flag, lower all others.
+
+			if (!(combineFlags & PxMaterialFlag::eDISABLE_FRICTION))
+			{
+				const PxI32 fictionCombineMode = PxMax(mat0.getFrictionCombineMode(), mat1.getFrictionCombineMode());
+				PxReal dynFriction = 0.f;
+				PxReal staFriction = 0.f;
+
+
+				switch (fictionCombineMode)
+				{
+				case PxCombineMode::eAVERAGE:
+					dynFriction = 0.5f * (mat0.dynamicFriction + mat1.dynamicFriction);
+					staFriction = 0.5f * (mat0.staticFriction + mat1.staticFriction);
+					break;
+				case PxCombineMode::eMIN:
+					dynFriction = PxMin(mat0.dynamicFriction, mat1.dynamicFriction);
+					staFriction = PxMin(mat0.staticFriction, mat1.staticFriction);
+					break;
+				case PxCombineMode::eMULTIPLY:
+					dynFriction = (mat0.dynamicFriction * mat1.dynamicFriction);
+					staFriction = (mat0.staticFriction * mat1.staticFriction);
+					break;
+				case PxCombineMode::eMAX:
+					dynFriction = PxMax(mat0.dynamicFriction, mat1.dynamicFriction);
+					staFriction = PxMax(mat0.staticFriction, mat1.staticFriction);
+					break;
+				}   
+
+				dynFriction*=mDynamicFrictionScaling;
+				staFriction*=mStaticFrictionScaling;
+				//isotropic case
+				const PxReal fDynFriction = PxMax(dynFriction, 0.f);
+
+				const PxReal fStaFriction = physx::intrinsics::fsel(staFriction - fDynFriction, staFriction*mStaticFrictionScaling, fDynFriction);
+				/*dest.dynFriction = fDynFriction;
+				dest.staFriction = fStaFriction;*/
+
+				dynamicFriction = fDynFriction;
+				staticFriction = fStaFriction;
+				flags = combineFlags;
+			}
+			else
+			{
+			/*	dest.flags |= PxMaterialFlag::eDISABLE_STRONG_FRICTION;
+				dest.staFriction = 0.0f;
+				dest.dynFriction = 0.0f;*/
+				flags = (combineFlags | PxMaterialFlag::eDISABLE_STRONG_FRICTION);
+				dynamicFriction = 0.f;
+				staticFriction = 0.f;
+			}
+
+		}
+
+
+	//private:
+	protected:
+		static PX_FORCE_INLINE PxReal combineScalars(PxReal a, PxReal b, PxI32 nxCombineMode)
+		{
+			switch (nxCombineMode)
+			{
+			case PxCombineMode::eAVERAGE:
+				return 0.5f * (a + b);
+			case PxCombineMode::eMIN:
+				return PxMin(a,b);
+			case PxCombineMode::eMULTIPLY:
+				return a * b;
+			case PxCombineMode::eMAX:
+				return PxMax(a,b);
+			default:
+			/*	Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, 
+					"Sc::MaterialCombiner::combineScalars(): unknown combine mode");*/
+				return PxReal(0);
+			}   
+		}
+
+		PxReal mStaticFrictionScaling, mDynamicFrictionScaling;
+
+	};
+
+}
+
+#endif