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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#include "SampleVehicle_SceneQuery.h"
#include "vehicle/PxVehicleSDK.h"
#include "PxFiltering.h"
#include "PsFoundation.h"
#include "PsUtilities.h"
#define CHECK_MSG(exp, msg) (!!(exp) || (physx::shdfnd::getFoundation().error(physx::PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, msg), 0) )
#define SIZEALIGN16(size) (((unsigned)(size)+15)&((unsigned)(~15)));
void SampleVehicleSetupDrivableShapeQueryFilterData(PxFilterData* qryFilterData)
{
CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_DRIVABLE_SURFACE;
}
void SampleVehicleSetupNonDrivableShapeQueryFilterData(PxFilterData* qryFilterData)
{
CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_UNDRIVABLE_SURFACE;
}
void SampleVehicleSetupVehicleShapeQueryFilterData(PxFilterData* qryFilterData)
{
CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_UNDRIVABLE_SURFACE;
}
SampleVehicleSceneQueryData* SampleVehicleSceneQueryData::allocate(const PxU32 maxNumWheels)
{
const PxU32 size0 = SIZEALIGN16(sizeof(SampleVehicleSceneQueryData));
const PxU32 size1 = SIZEALIGN16(sizeof(PxRaycastQueryResult)*maxNumWheels);
const PxU32 size2 = SIZEALIGN16(sizeof(PxRaycastHit)*maxNumWheels);
const PxU32 size = size0 + size1 + size2;
SampleVehicleSceneQueryData* sqData = (SampleVehicleSceneQueryData*)PX_ALLOC(size, "PxVehicleNWSceneQueryData");
sqData->init();
PxU8* ptr = (PxU8*) sqData;
ptr += size0;
sqData->mSqResults = (PxRaycastQueryResult*)ptr;
sqData->mNbSqResults = maxNumWheels;
ptr += size1;
sqData->mSqHitBuffer = (PxRaycastHit*)ptr;
ptr += size2;
sqData->mNumQueries = maxNumWheels;
return sqData;
}
void SampleVehicleSceneQueryData::free()
{
PX_FREE(this);
}
PxBatchQuery* SampleVehicleSceneQueryData::setUpBatchedSceneQuery(PxScene* scene)
{
PxBatchQueryDesc sqDesc(mNbSqResults, 0, 0);
sqDesc.queryMemory.userRaycastResultBuffer = mSqResults;
sqDesc.queryMemory.userRaycastTouchBuffer = mSqHitBuffer;
sqDesc.queryMemory.raycastTouchBufferSize = mNumQueries;
sqDesc.preFilterShader = mPreFilterShader;
return scene->createBatchQuery(sqDesc);
}
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