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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) 2008-2016 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 "NpScene.h"
#if PX_SUPPORT_PVD
using namespace physx;
using namespace Sq;
using namespace Vd;
static const char* gName_PvdRaycast[2] = { "SceneQueries.Raycasts", "BatchedQueries.Raycasts" };
static const char* gName_PvdSweep[2] = { "SceneQueries.Sweeps", "BatchedQueries.Sweeps" };
static const char* gName_PvdOverlap[2] = { "SceneQueries.Overlaps", "BatchedQueries.Overlaps" };
static const char* gName_PvdSqHit[2] = { "SceneQueries.Hits", "BatchedQueries.Hits" };
static const char* gName_PxTransform[2] = { "SceneQueries.PoseList", "BatchedQueries.PoseList" };
static const char* gName_PxFilterData[2] = { "SceneQueries.FilterDataList", "BatchedQueries.FilterDataList" };
static const char* gName_PxGeometryHolder[2] = { "SceneQueries.GeometryList", "BatchedQueries.GeometryList" };
PvdSceneQueryCollector::PvdSceneQueryCollector(Scb::Scene& scene, bool isBatched) :
mAccumulatedRaycastQueries (gName_PvdRaycast),
mAccumulatedSweepQueries (gName_PvdSweep),
mAccumulatedOverlapQueries (gName_PvdOverlap),
mPvdSqHits (gName_PvdSqHit),
mPoses (gName_PxTransform),
mFilterData (gName_PxFilterData),
mScene (scene),
mGeometries0 (gName_PxGeometryHolder),
mGeometries1 (gName_PxGeometryHolder),
mInUse (0),
mIsBatched (isBatched)
{
}
void PvdSceneQueryCollector::release()
{
physx::pvdsdk::PvdDataStream* stream = mScene.getScenePvdClient().getDataStream();
if(stream && stream->isConnected())
{
const Ps::Array<PxGeometryHolder>& geoms = getPrevFrameGeometries();
for(PxU32 k=0; k<geoms.size(); ++k)
stream->destroyInstance(&geoms[k]);
clearGeometryArrays();
}
}
template<class QueryResultT, class PvdHitType>
static void collectBatchedHits(const QueryResultT* results, Ps::Array<PvdHitType>& accumulated, Ps::Array<PvdSqHit>& pvdSqHits, PxU32 nb, PxU32 startIdx, const char* arrayName)
{
for(PxU32 i=0; i<nb; i++)
{
const QueryResultT& result = results[i];
if(result.queryStatus != PxBatchQueryStatus::eSUCCESS)
continue;
PvdHitType& query = accumulated[startIdx + i];
const PxU32 nbAnyHits = result.getNbAnyHits();
if(query.mHits.mCount != nbAnyHits)
{
query.mHits = PvdReference(arrayName, pvdSqHits.size(), nbAnyHits);
for(PxU32 j=0; j<nbAnyHits; j++)
pvdSqHits.pushBack(PvdSqHit(result.getAnyHit(j)));
}
}
}
void PvdSceneQueryCollector::collectAllBatchedHits(const PxRaycastQueryResult* r, PxU32 nbR, PxU32 idxR, const PxOverlapQueryResult* o, PxU32 nbO, PxU32 idxO, const PxSweepQueryResult* s, PxU32 nbS, PxU32 idxS)
{
collectBatchedHits(r, mAccumulatedRaycastQueries, mPvdSqHits, nbR, idxR, getArrayName(mPvdSqHits));
collectBatchedHits(o, mAccumulatedOverlapQueries, mPvdSqHits, nbO, idxO, getArrayName(mPvdSqHits));
collectBatchedHits(s, mAccumulatedSweepQueries, mPvdSqHits, nbS, idxS, getArrayName(mPvdSqHits));
}
template<class SDKHitType, class PvdHitType>
static void accumulate(PvdHitType& query, Ps::Array<PvdHitType>& accumulated, const char* arrayName, Ps::Array<PvdSqHit>& dst, const SDKHitType* src, PxU32 nb, const PxQueryFilterData& fd)
{
query.mFilterFlags = fd.flags;
query.mHits = PvdReference(arrayName, dst.size(), nb);
PX_ASSERT(PxU32(-1) != nb);
for(PxU32 i=0; i<nb; i++)
dst.pushBack(PvdSqHit(src[i]));
accumulated.pushBack(query);
}
static PX_FORCE_INLINE void clampNbHits(PxU32& hitsNum, const PxQueryFilterData& fd, bool multipleHits)
{
if((fd.flags & PxQueryFlag::eANY_HIT) || !multipleHits)
hitsNum = hitsNum > 0 ? 1u : 0;
}
template<class Type> static void pushBackT(Ps::Array<Type>& array, const Type& item, PvdReference& ref, const char* arrayName)
{
ref = PvdReference(arrayName, array.size(), 1);
array.pushBack(item);
}
void PvdSceneQueryCollector::raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal distance, const PxRaycastHit* hit, PxU32 hitsNum, const PxQueryFilterData& fd, bool multipleHits)
{
Ps::Mutex::ScopedLock lock(mMutex);
PvdRaycast raycastQuery;
raycastQuery.mOrigin = origin;
raycastQuery.mUnitDir = unitDir;
raycastQuery.mDistance = distance;
raycastQuery.mFilterData = fd.data;
if(fd.flags & PxQueryFlag::eANY_HIT) raycastQuery.mType = QueryID::QUERY_RAYCAST_ANY_OBJECT;
else if(multipleHits) raycastQuery.mType = QueryID::QUERY_RAYCAST_ALL_OBJECTS;
else raycastQuery.mType = QueryID::QUERY_RAYCAST_CLOSEST_OBJECT;
clampNbHits(hitsNum, fd, multipleHits);
accumulate(raycastQuery, mAccumulatedRaycastQueries, getArrayName(mPvdSqHits), mPvdSqHits, hit, hitsNum, fd);
}
void PvdSceneQueryCollector::sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, PxReal distance, const PxSweepHit* hit, PxU32 hitsNum, const PxQueryFilterData& fd, bool multipleHits)
{
Ps::Mutex::ScopedLock lock(mMutex);
PvdSweep sweepQuery;
pushBackT(getGeometries(mInUse), PxGeometryHolder(geometry), sweepQuery.mGeometries, getArrayName(getGeometries(mInUse))); // PT: TODO: optimize this. We memcopy once to the stack, then again to the array....
pushBackT(mPoses, pose, sweepQuery.mPoses, getArrayName(mPoses));
pushBackT(mFilterData, fd.data, sweepQuery.mFilterData, getArrayName(mFilterData));
const PxGeometryType::Enum type = geometry.getType(); // PT: TODO: QueryID::QUERY_LINEAR_xxx_SWEEP_ALL_OBJECTS are never used!
if(type==PxGeometryType::eBOX) sweepQuery.mType = QueryID::QUERY_LINEAR_OBB_SWEEP_CLOSEST_OBJECT;
else if(type==PxGeometryType::eSPHERE || type==PxGeometryType::eCAPSULE) sweepQuery.mType = QueryID::QUERY_LINEAR_CAPSULE_SWEEP_CLOSEST_OBJECT;
else if(type==PxGeometryType::eCONVEXMESH) sweepQuery.mType = QueryID::QUERY_LINEAR_CONVEX_SWEEP_CLOSEST_OBJECT;
else PX_ASSERT(0);
sweepQuery.mUnitDir = unitDir;
sweepQuery.mDistance = distance;
clampNbHits(hitsNum, fd, multipleHits);
accumulate(sweepQuery, mAccumulatedSweepQueries, getArrayName(mPvdSqHits), mPvdSqHits, hit, hitsNum, fd);
}
void PvdSceneQueryCollector::overlapMultiple(const PxGeometry& geometry, const PxTransform& pose, const PxOverlapHit* hit, PxU32 hitsNum, const PxQueryFilterData& fd)
{
Ps::Mutex::ScopedLock lock(mMutex);
PvdOverlap overlapQuery;
pushBackT(getGeometries(mInUse), PxGeometryHolder(geometry), overlapQuery.mGeometries, getArrayName(getGeometries(mInUse))); // PT: TODO: optimize this. We memcopy once to the stack, then again to the array....
const PxGeometryType::Enum type = geometry.getType();
if(type==PxGeometryType::eBOX) overlapQuery.mType = pose.q.isIdentity() ? QueryID::QUERY_OVERLAP_AABB_ALL_OBJECTS : QueryID::QUERY_OVERLAP_OBB_ALL_OBJECTS;
else if(type==PxGeometryType::eSPHERE) overlapQuery.mType = QueryID::QUERY_OVERLAP_SPHERE_ALL_OBJECTS;
else if(type==PxGeometryType::eCAPSULE) overlapQuery.mType = QueryID::QUERY_OVERLAP_CAPSULE_ALL_OBJECTS;
else if(type==PxGeometryType::eCONVEXMESH) overlapQuery.mType = QueryID::QUERY_OVERLAP_CONVEX_ALL_OBJECTS;
else PX_ASSERT(0);
overlapQuery.mPose = pose;
overlapQuery.mFilterData = fd.data;
accumulate(overlapQuery, mAccumulatedOverlapQueries, getArrayName(mPvdSqHits), mPvdSqHits, hit, hitsNum, fd);
}
#endif
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