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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 PX_PHYSICS_NP_SCENEQUERIES
#define PX_PHYSICS_NP_SCENEQUERIES
#include "PxScene.h"
#include "PxQueryReport.h"
#include "PsIntrinsics.h"
#include "CmPhysXCommon.h"
#include "SqSceneQueryManager.h"
#include "GuTriangleMesh.h"
#include "GuRaycastTests.h"
#include "GuSweepTests.h"
#include "GuOverlapTests.h"
#include "ScbScene.h"
#if PX_SUPPORT_PVD
#include "NpPvdSceneQueryCollector.h"
#endif
namespace physx { namespace Sq {
struct QueryID { enum Enum {
QUERY_RAYCAST_ANY_OBJECT,
QUERY_RAYCAST_CLOSEST_OBJECT,
QUERY_RAYCAST_ALL_OBJECTS,
QUERY_OVERLAP_SPHERE_ALL_OBJECTS,
QUERY_OVERLAP_AABB_ALL_OBJECTS,
QUERY_OVERLAP_OBB_ALL_OBJECTS,
QUERY_OVERLAP_CAPSULE_ALL_OBJECTS,
QUERY_OVERLAP_CONVEX_ALL_OBJECTS,
QUERY_LINEAR_OBB_SWEEP_CLOSEST_OBJECT,
QUERY_LINEAR_CAPSULE_SWEEP_CLOSEST_OBJECT,
QUERY_LINEAR_CONVEX_SWEEP_CLOSEST_OBJECT
}; };
}
struct MultiQueryInput
{
const PxVec3* rayOrigin; // only valid for raycasts
const PxVec3* unitDir; // only valid for raycasts and sweeps
PxReal maxDistance; // only valid for raycasts and sweeps
const PxGeometry* geometry; // only valid for overlaps and sweeps
const PxTransform* pose; // only valid for overlaps and sweeps
PxReal inflation; // only valid for sweeps
// Raycast constructor
MultiQueryInput(const PxVec3& aRayOrigin, const PxVec3& aUnitDir, PxReal aMaxDist)
{
Ps::prefetchLine(&aRayOrigin);
Ps::prefetchLine(&aUnitDir);
rayOrigin = &aRayOrigin;
unitDir = &aUnitDir;
maxDistance = aMaxDist;
geometry = NULL;
pose = NULL;
inflation = 0.0f;
}
// Overlap constructor
MultiQueryInput(const PxGeometry* aGeometry, const PxTransform* aPose)
{
Ps::prefetchLine(aGeometry);
Ps::prefetchLine(aPose);
geometry = aGeometry;
pose = aPose;
inflation = 0.0f;
rayOrigin = unitDir = NULL;
}
// Sweep constructor
MultiQueryInput(
const PxGeometry* aGeometry, const PxTransform* aPose,
const PxVec3& aUnitDir, const PxReal aMaxDist, const PxReal aInflation)
{
Ps::prefetchLine(aGeometry);
Ps::prefetchLine(aPose);
Ps::prefetchLine(&aUnitDir);
rayOrigin = NULL;
maxDistance = aMaxDist;
unitDir = &aUnitDir;
geometry = aGeometry;
pose = aPose;
inflation = aInflation;
}
PX_FORCE_INLINE const PxVec3& getDir() const { PX_ASSERT(unitDir); return *unitDir; }
PX_FORCE_INLINE const PxVec3& getOrigin() const { PX_ASSERT(rayOrigin); return *rayOrigin; }
};
struct BatchQueryFilterData
{
void* filterShaderData;
PxU32 filterShaderDataSize;
PxBatchQueryPreFilterShader preFilterShader;
PxBatchQueryPostFilterShader postFilterShader;
#if PX_SUPPORT_PVD
Vd::PvdSceneQueryCollector* collector; // gets set to bq collector
#endif
BatchQueryFilterData(void* fsData, PxU32 fsSize, PxBatchQueryPreFilterShader preFs, PxBatchQueryPostFilterShader postFs)
: filterShaderData(fsData), filterShaderDataSize(fsSize), preFilterShader(preFs), postFilterShader(postFs)
{
#if PX_SUPPORT_PVD
collector = NULL;
#endif
}
};
class PxGeometry;
class NpSceneQueries : public PxScene
{
PX_NOCOPY(NpSceneQueries)
public:
NpSceneQueries(const PxSceneDesc& desc);
~NpSceneQueries();
template<typename QueryHit>
bool multiQuery(
const MultiQueryInput& in,
PxHitCallback<QueryHit>& hits, PxHitFlags hitFlags, const PxQueryCache* cache,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
BatchQueryFilterData* bqFd) const;
// Synchronous scene queries
virtual bool raycast(
const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, // Ray data
PxRaycastCallback& hitCall, PxHitFlags hitFlags,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache) const;
virtual bool sweep(
const PxGeometry& geometry, const PxTransform& pose, // GeomObject data
const PxVec3& unitDir, const PxReal distance, // Ray data
PxSweepCallback& hitCall, PxHitFlags hitFlags,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache, const PxReal inflation) const;
virtual bool overlap(
const PxGeometry& geometry, const PxTransform& transform, // GeomObject data
PxOverlapCallback& hitCall,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall) const;
PX_FORCE_INLINE PxU64 getContextId() const { return PxU64(reinterpret_cast<size_t>(this)); }
PX_FORCE_INLINE Scb::Scene& getScene() { return mScene; }
PX_FORCE_INLINE const Scb::Scene& getScene() const { return mScene; }
PX_FORCE_INLINE PxU32 getFlagsFast() const { return mScene.getFlags(); }
PX_FORCE_INLINE Sq::SceneQueryManager& getSceneQueryManagerFast() { return mSQManager; }
PX_FORCE_INLINE PxSceneQueryUpdateMode::Enum getSceneQueryUpdateModeFast() const { return mSceneQueryUpdateMode; }
void sceneQueriesStaticPrunerUpdate(PxBaseTask* continuation);
void sceneQueriesDynamicPrunerUpdate(PxBaseTask* continuation);
Scb::Scene mScene;
Sq::SceneQueryManager mSQManager;
const Gu::GeomRaycastTable& mCachedRaycastFuncs;
const Gu::GeomSweepFuncs& mCachedSweepFuncs;
const Gu::GeomOverlapTable* mCachedOverlapFuncs;
typedef Cm::DelegateTask<NpSceneQueries, &NpSceneQueries::sceneQueriesStaticPrunerUpdate> SceneQueriesStaticPrunerUpdate;
typedef Cm::DelegateTask<NpSceneQueries, &NpSceneQueries::sceneQueriesDynamicPrunerUpdate> SceneQueriesDynamicPrunerUpdate;
SceneQueriesStaticPrunerUpdate mSceneQueriesStaticPrunerUpdate;
SceneQueriesDynamicPrunerUpdate mSceneQueriesDynamicPrunerUpdate;
PxSceneQueryUpdateMode::Enum mSceneQueryUpdateMode;
#if PX_SUPPORT_PVD
public:
//Scene query and hits for pvd, collected in current frame
mutable Vd::PvdSceneQueryCollector mSingleSqCollector;
mutable Vd::PvdSceneQueryCollector mBatchedSqCollector;
PX_FORCE_INLINE Vd::PvdSceneQueryCollector& getSingleSqCollector() const {return mSingleSqCollector;}
PX_FORCE_INLINE Vd::PvdSceneQueryCollector& getBatchedSqCollector() const {return mBatchedSqCollector;}
#endif // PX_SUPPORT_PVD
};
#if PX_SUPPORT_EXTERN_TEMPLATE
//explicit template instantiation declaration
extern template
bool NpSceneQueries::multiQuery<PxRaycastHit>(const MultiQueryInput&, PxHitCallback<PxRaycastHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*, BatchQueryFilterData*) const;
extern template
bool NpSceneQueries::multiQuery<PxOverlapHit>(const MultiQueryInput&, PxHitCallback<PxOverlapHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*, BatchQueryFilterData*) const;
extern template
bool NpSceneQueries::multiQuery<PxSweepHit>(const MultiQueryInput&, PxHitCallback<PxSweepHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*, BatchQueryFilterData*) const;
#endif
namespace Sq { class AABBPruner; class AABBTreeRuntimeNode; class AABBTree; }
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
#if PX_VC
#pragma warning(pop)
#endif
} // namespace physx, sq
#endif
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