NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxScene.h Source File

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+00024 // NVIDIA Corporation.
+00025 //
+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 
+00031 #ifndef PX_PHYSICS_NX_SCENE
+00032 #define PX_PHYSICS_NX_SCENE
+00033 
+00037 #include "PxVisualizationParameter.h"
+00038 #include "PxSceneDesc.h"
+00039 #include "PxSimulationStatistics.h"
+00040 #include "PxQueryReport.h"
+00041 #include "PxQueryFiltering.h"
+00042 #include "PxClient.h"
+00043 #include "task/PxTask.h"
+00044 
+00045 #if PX_USE_PARTICLE_SYSTEM_API
+00046 #include "particles/PxParticleSystem.h"
+00047 #include "particles/PxParticleFluid.h"
+00048 #endif
+00049 
+00050 #include "pvd/PxPvdSceneClient.h"
+00051 
+00052 #if !PX_DOXYGEN
+00053 namespace physx
+00054 {
+00055 #endif
+00056 
+00057 class PxRigidStatic;
+00058 class PxRigidDynamic;
+00059 class PxConstraint;
+00060 class PxMaterial;
+00061 class PxSimulationEventCallback;
+00062 class PxPhysics;
+00063 class PxBatchQueryDesc;
+00064 class PxBatchQuery;
+00065 class PxAggregate;
+00066 class PxRenderBuffer;
+00067 class PxVolumeCache;
+00068 
+00069 class PxSphereGeometry;
+00070 class PxBoxGeometry;
+00071 class PxCapsuleGeometry;
+00072 
+00073 class PxPruningStructure;
+00074 struct PxContactPairHeader;
+00075 
+00076 typedef PxU8 PxDominanceGroup;
+00077 
+00078 class PxPvdSceneClient;
+00079 
+00086 struct PX_DEPRECATED PxActiveTransform
+00087 {
+00088     PxActor*        actor;              
+00089     void*           userData;           
+00090     PxTransform     actor2World;        
+00091 };
+00092 
+00101 struct PxDominanceGroupPair
+00102 {
+00103     PxDominanceGroupPair(PxU8 a, PxU8 b) 
+00104         : dominance0(a), dominance1(b) {}
+00105     PxU8 dominance0;
+00106     PxU8 dominance1;
+00107 };
+00108 
+00109 
+00117 struct PxActorTypeFlag
+00118 {
+00119     enum Enum
+00120     {
+00125         eRIGID_STATIC       = (1 << 0),
+00126 
+00131         eRIGID_DYNAMIC      = (1 << 1),
+00132 
+00133 #if PX_USE_PARTICLE_SYSTEM_API
+00134 
+00139         ePARTICLE_SYSTEM    PX_DEPRECATED = (1 << 2),
+00140 
+00146         ePARTICLE_FLUID     PX_DEPRECATED = (1 << 3),
+00147 #endif
+00148 
+00149 #if PX_USE_CLOTH_API
+00150 
+00154         eCLOTH              = (1 << 5)
+00155 #endif
+00156     };
+00157 };
+00158 
+00164 typedef PxFlags<PxActorTypeFlag::Enum,PxU16> PxActorTypeFlags;
+00165 PX_FLAGS_OPERATORS(PxActorTypeFlag::Enum,PxU16)
+00166 
+00167 
+00185 struct PxQueryCache
+00186 {
+00190     PX_INLINE PxQueryCache() : shape(NULL), actor(NULL), faceIndex(0xffffffff) {}
+00191 
+00195     PX_INLINE PxQueryCache(PxShape* s, PxU32 findex) : shape(s), actor(NULL), faceIndex(findex) {}
+00196 
+00197     PxShape*        shape;          
+00198     PxRigidActor*   actor;          
+00199     PxU32           faceIndex;      
+00200 };
+00201 
+00211 class PxScene
+00212 {
+00213     protected:
+00214     
+00215     /************************************************************************************************/
+00216 
+00220     
+00221                                 PxScene(): userData(0)  {}
+00222     virtual                     ~PxScene()  {}
+00223 
+00224     public:
+00225 
+00237     virtual     void            release() = 0;
+00238 
+00246     virtual     void            setFlag(PxSceneFlag::Enum flag, bool value) = 0;
+00247 
+00255     virtual     PxSceneFlags    getFlags() const = 0;
+00256 
+00257 
+00268     virtual void                setLimits(const PxSceneLimits& limits) = 0;
+00269 
+00275     virtual PxSceneLimits       getLimits() const = 0;
+00276 
+00277 
+00285     virtual PxPhysics&          getPhysics() = 0;
+00286 
+00292     virtual PxU32               getTimestamp()  const   = 0;
+00293 
+00294     
+00296     /************************************************************************************************/
+00297 
+00310     virtual void                addArticulation(PxArticulation& articulation) = 0;
+00311 
+00324     virtual void                removeArticulation(PxArticulation& articulation, bool wakeOnLostTouch = true) = 0;
+00325 
+00341     virtual void                addActor(PxActor& actor) = 0;
+00342 
+00361     virtual void                addActors(PxActor*const* actors, PxU32 nbActors) = 0;
+00362 
+00381     virtual void                addActors(const PxPruningStructure& pruningStructure) = 0;
+00382 
+00399     virtual void                removeActor(PxActor& actor, bool wakeOnLostTouch = true) = 0;
+00400 
+00416     virtual void                removeActors(PxActor*const* actors, PxU32 nbActors, bool wakeOnLostTouch = true) = 0;
+00417 
+00430     virtual void                addAggregate(PxAggregate& aggregate)    = 0;
+00431 
+00444     virtual void                removeAggregate(PxAggregate& aggregate, bool wakeOnLostTouch = true)    = 0;
+00445 
+00458     virtual void                addCollection(const PxCollection& collection) = 0;
+00460     /************************************************************************************************/
+00461 
+00465 
+00474     virtual PxU32               getNbActors(PxActorTypeFlags types) const = 0;
+00475 
+00487     virtual PxU32               getActors(PxActorTypeFlags types, PxActor** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
+00488 
+00505     PX_DEPRECATED virtual const PxActiveTransform*
+00506                                 getActiveTransforms(PxU32& nbTransformsOut, PxClientID client = PX_DEFAULT_CLIENT) = 0;
+00507 
+00508 
+00527     virtual PxActor**       getActiveActors(PxU32& nbActorsOut, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
+00528 
+00536     virtual PxU32               getNbArticulations() const = 0;
+00537 
+00548     virtual PxU32               getArticulations(PxArticulation** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
+00549 
+00557     virtual PxU32               getNbConstraints()  const   = 0;
+00558 
+00569     virtual PxU32               getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
+00570 
+00571 
+00579     virtual         PxU32       getNbAggregates()   const   = 0;
+00580 
+00591     virtual         PxU32       getAggregates(PxAggregate** userBuffer, PxU32 bufferSize, PxU32 startIndex=0)   const   = 0;
+00592 
+00594     /************************************************************************************************/
+00595 
+00599 
+00650     virtual void                setDominanceGroupPair(
+00651                                     PxDominanceGroup group1, PxDominanceGroup group2, const PxDominanceGroupPair& dominance) = 0;
+00652 
+00658     virtual PxDominanceGroupPair getDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2) const = 0;
+00659 
+00661     /************************************************************************************************/
+00662 
+00666 
+00672     virtual PxCpuDispatcher* getCpuDispatcher() const = 0;
+00673 
+00681     virtual PxGpuDispatcher* getGpuDispatcher() const = 0;
+00682 
+00684     /************************************************************************************************/
+00697     virtual PxClientID          createClient() = 0;
+00698 
+00715     PX_DEPRECATED virtual void              setClientBehaviorFlags(PxClientID client, PxClientBehaviorFlags clientBehaviorFlags) = 0; 
+00716 
+00724     PX_DEPRECATED virtual PxClientBehaviorFlags getClientBehaviorFlags(PxClientID client) const = 0;
+00726 
+00727 
+00728     #if PX_USE_CLOTH_API
+00729 
+00730     /************************************************************************************************/
+00731 
+00747     virtual void                setClothInterCollisionDistance(PxF32 distance) = 0;
+00748 
+00753     virtual PxF32               getClothInterCollisionDistance() const = 0;
+00754 
+00763     virtual void                setClothInterCollisionStiffness(PxF32 stiffness) = 0; 
+00768     virtual PxF32               getClothInterCollisionStiffness() const = 0; 
+00769 
+00778     virtual void                setClothInterCollisionNbIterations(PxU32 nbIterations) = 0;     
+00783     virtual PxU32               getClothInterCollisionNbIterations() const = 0; 
+00785 
+00786     #endif // PX_USE_CLOTH_API
+00787 
+00788     /************************************************************************************************/
+00789 
+00793 
+00810     virtual void                setSimulationEventCallback(PxSimulationEventCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
+00811 
+00822     virtual PxSimulationEventCallback*
+00823                                 getSimulationEventCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) const = 0;
+00824 
+00832     virtual void                setContactModifyCallback(PxContactModifyCallback* callback) = 0;
+00833 
+00841     virtual void                setCCDContactModifyCallback(PxCCDContactModifyCallback* callback) = 0;
+00842 
+00850     virtual PxContactModifyCallback*
+00851                                 getContactModifyCallback() const = 0;
+00852 
+00860     virtual PxCCDContactModifyCallback*
+00861                                 getCCDContactModifyCallback() const = 0;
+00862 
+00879     virtual void                setBroadPhaseCallback(PxBroadPhaseCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
+00880 
+00892     virtual PxBroadPhaseCallback* getBroadPhaseCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT)    const = 0;
+00893 
+00895     /************************************************************************************************/
+00896 
+00900 
+00917     virtual void                setFilterShaderData(const void* data, PxU32 dataSize) = 0;
+00918 
+00928     virtual const void*         getFilterShaderData() const = 0;
+00929 
+00937     virtual PxU32               getFilterShaderDataSize() const = 0;
+00938 
+00946     virtual PxSimulationFilterShader
+00947                                 getFilterShader() const = 0;
+00948 
+00956     virtual PxSimulationFilterCallback*
+00957                                 getFilterCallback() const = 0;
+00958 
+00988     virtual void                resetFiltering(PxActor& actor) = 0;
+00989 
+01004     virtual void                resetFiltering(PxRigidActor& actor, PxShape*const* shapes, PxU32 shapeCount) = 0;
+01005 
+01007     /************************************************************************************************/
+01008 
+01043     virtual void                simulate(PxReal elapsedTime, physx::PxBaseTask* completionTask = NULL,
+01044                                     void* scratchMemBlock = 0, PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
+01045 
+01046 
+01057     virtual void                advance(physx::PxBaseTask* completionTask = 0) = 0;
+01058 
+01076     virtual void                collide(PxReal elapsedTime, physx::PxBaseTask* completionTask = 0, void* scratchMemBlock = 0,
+01077                                     PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;  
+01078     
+01090     virtual bool                checkResults(bool block = false) = 0;
+01091 
+01099     virtual bool                fetchCollision(bool block = false)  = 0;            
+01100 
+01122     virtual bool                fetchResults(bool block = false, PxU32* errorState = 0) = 0;
+01123 
+01124 
+01140     virtual bool                fetchResultsStart(const PxContactPairHeader*& contactPairs, PxU32& nbContactPairs, bool block = false) = 0;
+01141 
+01142 
+01151     virtual void                processCallbacks(physx::PxBaseTask* continuation) = 0;
+01152 
+01153 
+01165     virtual void                fetchResultsFinish(PxU32* errorState = 0) = 0;
+01166 
+01167 
+01178     virtual void                flushSimulation(bool sendPendingReports = false) = 0;
+01179     
+01189     virtual void                setGravity(const PxVec3& vec) = 0;
+01190 
+01198     virtual PxVec3              getGravity() const = 0;
+01199 
+01205     virtual void                setBounceThresholdVelocity(const PxReal t) = 0;
+01206 
+01212     virtual PxReal              getBounceThresholdVelocity() const = 0;
+01213 
+01214 
+01223     virtual void                setCCDMaxPasses(PxU32 ccdMaxPasses) = 0;
+01224 
+01233     virtual PxU32               getCCDMaxPasses() const = 0;    
+01234 
+01240     virtual PxReal              getFrictionOffsetThreshold() const = 0;
+01241 
+01246     virtual void setFrictionType(PxFrictionType::Enum frictionType) = 0;
+01247 
+01252     virtual PxFrictionType::Enum getFrictionType() const = 0;
+01253 
+01255     /************************************************************************************************/
+01256 
+01271     virtual bool                setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value) = 0;
+01272 
+01281     virtual PxReal              getVisualizationParameter(PxVisualizationParameter::Enum paramEnum) const = 0;
+01282 
+01283 
+01290     virtual void                setVisualizationCullingBox(const PxBounds3& box) = 0;
+01291 
+01298     virtual const PxBounds3&    getVisualizationCullingBox() const = 0;
+01299     
+01311     virtual const PxRenderBuffer& getRenderBuffer() = 0;
+01312     
+01322     virtual void                getSimulationStatistics(PxSimulationStatistics& stats) const = 0;
+01323     
+01324     
+01326     /************************************************************************************************/
+01327 
+01331 
+01337     virtual PxPruningStructureType::Enum getStaticStructure() const = 0;
+01338 
+01344     virtual PxPruningStructureType::Enum getDynamicStructure() const = 0;
+01345 
+01361     virtual void                flushQueryUpdates() = 0;
+01362 
+01374     PX_DEPRECATED virtual   PxBatchQuery*       createBatchQuery(const PxBatchQueryDesc& desc) = 0;
+01375 
+01383     PX_DEPRECATED virtual   PxVolumeCache*      createVolumeCache(PxU32 maxStaticShapes = 32, PxU32 maxDynamicShapes = 8) = 0;
+01384 
+01392     virtual void                setDynamicTreeRebuildRateHint(PxU32 dynamicTreeRebuildRateHint) = 0;
+01393 
+01401     virtual PxU32               getDynamicTreeRebuildRateHint() const = 0;
+01402 
+01411     virtual void                forceDynamicTreeRebuild(bool rebuildStaticStructure, bool rebuildDynamicStructure)  = 0;
+01412 
+01435     virtual bool                raycast(
+01436                                     const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
+01437                                     PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
+01438                                     const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
+01439                                     const PxQueryCache* cache = NULL) const = 0;
+01440 
+01468     virtual bool                sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
+01469                                     PxSweepCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
+01470                                     const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
+01471                                     const PxQueryCache* cache = NULL, const PxReal inflation = 0.f) const = 0;
+01472 
+01473 
+01493     virtual bool                overlap(const PxGeometry& geometry, const PxTransform& pose, PxOverlapCallback& hitCall,
+01494                                     const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL
+01495                                     ) const = 0;
+01496 
+01497 
+01504     virtual PxU32   getSceneQueryStaticTimestamp()  const   = 0;
+01506     
+01507     /************************************************************************************************/
+01511 
+01517     virtual PxBroadPhaseType::Enum  getBroadPhaseType()                             const = 0;
+01518 
+01525     virtual bool                    getBroadPhaseCaps(PxBroadPhaseCaps& caps)           const = 0;
+01526 
+01532     virtual PxU32                   getNbBroadPhaseRegions()                            const = 0;
+01533 
+01542     virtual PxU32                   getBroadPhaseRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const    = 0;
+01543 
+01560     virtual PxU32                   addBroadPhaseRegion(const PxBroadPhaseRegion& region, bool populateRegion=false)        = 0;
+01561 
+01575     virtual bool                    removeBroadPhaseRegion(PxU32 handle)                = 0;
+01576 
+01578 
+01579     /************************************************************************************************/
+01580 
+01584 
+01590     virtual PxTaskManager*          getTaskManager() const = 0;
+01591 
+01592 
+01611     virtual void lockRead(const char* file=NULL, PxU32 line=0) = 0;
+01612 
+01618     virtual void unlockRead() = 0;
+01619 
+01645     virtual void lockWrite(const char* file=NULL, PxU32 line=0) = 0;
+01646 
+01652     virtual void unlockWrite() = 0;
+01653     
+01654 
+01668     virtual         void                setNbContactDataBlocks(PxU32 numBlocks) = 0;
+01669     
+01670 
+01680     virtual         PxU32               getNbContactDataBlocksUsed() const = 0;
+01681 
+01691     virtual         PxU32               getMaxNbContactDataBlocksUsed() const = 0;
+01692 
+01693 
+01699     virtual PxU32 getContactReportStreamBufferSize() const = 0;
+01700 
+01701     
+01709     virtual void                        setSolverBatchSize(PxU32 solverBatchSize) = 0;
+01710 
+01718     virtual PxU32                       getSolverBatchSize() const = 0;
+01719     
+01720 
+01722 
+01730     virtual PxReal                      getWakeCounterResetValue() const = 0;
+01731 
+01748     virtual void                    shiftOrigin(const PxVec3& shift) = 0;
+01749 
+01754     virtual PxPvdSceneClient*       getScenePvdClient() = 0;
+01755 
+01756     void*   userData;   
+01757 };
+01758 
+01759 #if !PX_DOXYGEN
+01760 } // namespace physx
+01761 #endif
+01762 
+01764 #endif
+