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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 "PxSceneQueryExt.h"
using namespace physx;
bool PxSceneQueryExt::raycastAny( const PxScene& scene,
const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryHit& hit, const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall, const PxSceneQueryCache* cache,
PxClientID queryClient)
{
PxSceneQueryFilterData fdAny = filterData;
fdAny.flags |= PxQueryFlag::eANY_HIT;
fdAny.clientId = queryClient;
PxRaycastBuffer buf;
scene.raycast(origin, unitDir, distance, buf, PxHitFlags(), fdAny, filterCall, cache);
hit = buf.block;
return buf.hasBlock;
}
bool PxSceneQueryExt::raycastSingle(const PxScene& scene,
const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryFlags outputFlags, PxRaycastHit& hit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall, const PxSceneQueryCache* cache,
PxClientID queryClient)
{
PxRaycastBuffer buf;
PxQueryFilterData fd1 = filterData; fd1.clientId = queryClient;
scene.raycast(origin, unitDir, distance, buf, outputFlags, fd1, filterCall, cache);
hit = buf.block;
return buf.hasBlock;
}
PxI32 PxSceneQueryExt::raycastMultiple( const PxScene& scene,
const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryFlags outputFlags,
PxRaycastHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall, const PxSceneQueryCache* cache,
PxClientID queryClient)
{
PxRaycastBuffer buf(hitBuffer, hitBufferSize);
PxQueryFilterData fd1 = filterData; fd1.clientId = queryClient;
scene.raycast(origin, unitDir, distance, buf, outputFlags, fd1, filterCall, cache);
blockingHit = buf.hasBlock;
if(blockingHit)
{
if(buf.nbTouches < hitBufferSize)
{
hitBuffer[buf.nbTouches] = buf.block;
return PxI32(buf.nbTouches+1);
}
else // overflow, drop the last touch
{
hitBuffer[hitBufferSize-1] = buf.block;
return -1;
}
} else
// no block
return PxI32(buf.nbTouches);
}
bool PxSceneQueryExt::sweepAny( const PxScene& scene,
const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryFlags queryFlags,
PxSceneQueryHit& hit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall,
const PxSceneQueryCache* cache,
PxClientID queryClient,
PxReal inflation)
{
PxSceneQueryFilterData fdAny = filterData;
fdAny.flags |= PxQueryFlag::eANY_HIT;
fdAny.clientId = queryClient;
PxSweepBuffer buf;
scene.sweep(geometry, pose, unitDir, distance, buf, queryFlags, fdAny, filterCall, cache, inflation);
hit = buf.block;
return buf.hasBlock;
}
bool PxSceneQueryExt::sweepSingle( const PxScene& scene,
const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryFlags outputFlags,
PxSweepHit& hit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall,
const PxSceneQueryCache* cache,
PxClientID queryClient, PxReal inflation)
{
PxSweepBuffer buf;
PxQueryFilterData fd1 = filterData; fd1.clientId = queryClient;
scene.sweep(geometry, pose, unitDir, distance, buf, outputFlags, fd1, filterCall, cache, inflation);
hit = buf.block;
return buf.hasBlock;
}
PxI32 PxSceneQueryExt::sweepMultiple( const PxScene& scene,
const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
PxSceneQueryFlags outputFlags, PxSweepHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall, const PxSceneQueryCache* cache,
PxClientID queryClient, PxReal inflation)
{
PxQueryFilterData fd1 = filterData; fd1.clientId = queryClient;
PxSweepBuffer buf(hitBuffer, hitBufferSize);
scene.sweep(geometry, pose, unitDir, distance, buf, outputFlags, fd1, filterCall, cache, inflation);
blockingHit = buf.hasBlock;
if(blockingHit)
{
if(buf.nbTouches < hitBufferSize)
{
hitBuffer[buf.nbTouches] = buf.block;
return PxI32(buf.nbTouches+1);
}
else // overflow, drop the last touch
{
hitBuffer[hitBufferSize-1] = buf.block;
return -1;
}
} else
// no block
return PxI32(buf.nbTouches);
}
PxI32 PxSceneQueryExt::overlapMultiple( const PxScene& scene,
const PxGeometry& geometry, const PxTransform& pose,
PxOverlapHit* hitBuffer, PxU32 hitBufferSize,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall,
PxClientID queryClient)
{
PxQueryFilterData fd1 = filterData; fd1.clientId = queryClient;
fd1.flags |= PxQueryFlag::eNO_BLOCK;
PxOverlapBuffer buf(hitBuffer, hitBufferSize);
scene.overlap(geometry, pose, buf, fd1, filterCall);
if(buf.hasBlock)
{
if(buf.nbTouches < hitBufferSize)
{
hitBuffer[buf.nbTouches] = buf.block;
return PxI32(buf.nbTouches+1);
}
else // overflow, drop the last touch
{
hitBuffer[hitBufferSize-1] = buf.block;
return -1;
}
} else
// no block
return PxI32(buf.nbTouches);
}
bool PxSceneQueryExt::overlapAny( const PxScene& scene,
const PxGeometry& geometry, const PxTransform& pose,
PxOverlapHit& hit,
const PxSceneQueryFilterData& filterData,
PxSceneQueryFilterCallback* filterCall,
PxClientID queryClient)
{
PxSceneQueryFilterData fdAny = filterData;
fdAny.flags |= (PxQueryFlag::eANY_HIT | PxQueryFlag::eNO_BLOCK);
fdAny.clientId = queryClient;
PxOverlapBuffer buf;
scene.overlap(geometry, pose, buf, fdAny, filterCall);
hit = buf.block;
return buf.hasBlock;
}
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