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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) 2008-2018 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 SNIPPET_VEHICLE_SCENEQUERY_H
#define SNIPPET_VEHICLE_SCENEQUERY_H
#include "PxPhysicsAPI.h"
namespace snippetvehicle
{
using namespace physx;
enum
{
DRIVABLE_SURFACE = 0xffff0000,
UNDRIVABLE_SURFACE = 0x0000ffff
};
void setupDrivableSurface(PxFilterData& filterData);
void setupNonDrivableSurface(PxFilterData& filterData);
PxQueryHitType::Enum WheelSceneQueryPreFilterBlocking
(PxFilterData filterData0, PxFilterData filterData1,
const void* constantBlock, PxU32 constantBlockSize,
PxHitFlags& queryFlags);
PxQueryHitType::Enum WheelSceneQueryPostFilterBlocking
(PxFilterData queryFilterData, PxFilterData objectFilterData,
const void* constantBlock, PxU32 constantBlockSize,
const PxQueryHit& hit);
PxQueryHitType::Enum WheelSceneQueryPreFilterNonBlocking
(PxFilterData filterData0, PxFilterData filterData1,
const void* constantBlock, PxU32 constantBlockSize,
PxHitFlags& queryFlags);
PxQueryHitType::Enum WheelSceneQueryPostFilterNonBlocking
(PxFilterData queryFilterData, PxFilterData objectFilterData,
const void* constantBlock, PxU32 constantBlockSize,
const PxQueryHit& hit);
//Data structure for quick setup of scene queries for suspension queries.
class VehicleSceneQueryData
{
public:
VehicleSceneQueryData();
~VehicleSceneQueryData();
//Allocate scene query data for up to maxNumVehicles and up to maxNumWheelsPerVehicle with numVehiclesInBatch per batch query.
static VehicleSceneQueryData* allocate
(const PxU32 maxNumVehicles, const PxU32 maxNumWheelsPerVehicle, const PxU32 maxNumHitPointsPerWheel, const PxU32 numVehiclesInBatch,
PxBatchQueryPreFilterShader preFilterShader, PxBatchQueryPostFilterShader postFilterShader,
PxAllocatorCallback& allocator);
//Free allocated buffers.
void free(PxAllocatorCallback& allocator);
//Create a PxBatchQuery instance that will be used for a single specified batch.
static PxBatchQuery* setUpBatchedSceneQuery(const PxU32 batchId, const VehicleSceneQueryData& vehicleSceneQueryData, PxScene* scene);
//Return an array of scene query results for a single specified batch.
PxRaycastQueryResult* getRaycastQueryResultBuffer(const PxU32 batchId);
//Return an array of scene query results for a single specified batch.
PxSweepQueryResult* getSweepQueryResultBuffer(const PxU32 batchId);
//Get the number of scene query results that have been allocated for a single batch.
PxU32 getQueryResultBufferSize() const;
private:
//Number of queries per batch
PxU32 mNumQueriesPerBatch;
//Number of hit results per query
PxU32 mNumHitResultsPerQuery;
//One result for each wheel.
PxRaycastQueryResult* mRaycastResults;
PxSweepQueryResult* mSweepResults;
//One hit for each wheel.
PxRaycastHit* mRaycastHitBuffer;
PxSweepHit* mSweepHitBuffer;
//Filter shader used to filter drivable and non-drivable surfaces
PxBatchQueryPreFilterShader mPreFilterShader;
//Filter shader used to reject hit shapes that initially overlap sweeps.
PxBatchQueryPostFilterShader mPostFilterShader;
};
} // namespace snippetvehicle
#endif //SNIPPET_VEHICLE_SCENEQUERY_H
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