Program Listing for include/PxSceneQuerySystem.h
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// Copyright (c) 2008-2022 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_SCENE_QUERY_SYSTEM_H
#define PX_SCENE_QUERY_SYSTEM_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxBitMap.h"
#include "foundation/PxTransform.h"
#include "PxSceneQueryDesc.h"
#include "PxQueryReport.h"
#include "PxQueryFiltering.h"
#include "geometry/PxGeometryQueryFlags.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxBaseTask;
class PxRenderOutput;
class PxGeometry;
class PxRigidActor;
class PxShape;
class PxBVH;
class PxPruningStructure;
enum PxScenePrunerIndex
{
PX_SCENE_PRUNER_STATIC = 0,
PX_SCENE_PRUNER_DYNAMIC = 1,
PX_SCENE_COMPOUND_PRUNER = 0xffffffff
};
class PxSceneQuerySystemBase
{
protected:
PxSceneQuerySystemBase() {}
virtual ~PxSceneQuerySystemBase() {}
public:
virtual void setDynamicTreeRebuildRateHint(PxU32 dynamicTreeRebuildRateHint) = 0;
virtual PxU32 getDynamicTreeRebuildRateHint() const = 0;
virtual void forceRebuildDynamicTree(PxU32 prunerIndex) = 0;
virtual void setUpdateMode(PxSceneQueryUpdateMode::Enum updateMode) = 0;
virtual PxSceneQueryUpdateMode::Enum getUpdateMode() const = 0;
virtual PxU32 getStaticTimestamp() const = 0;
virtual void flushUpdates() = 0;
virtual bool raycast(const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
const PxQueryCache* cache = NULL, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual bool sweep( const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
PxSweepCallback& hitCall, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
const PxQueryCache* cache = NULL, const PxReal inflation = 0.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual bool overlap(const PxGeometry& geometry, const PxTransform& pose, PxOverlapCallback& hitCall,
const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
const PxQueryCache* cache = NULL, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
};
class PxSceneSQSystem : public PxSceneQuerySystemBase
{
protected:
PxSceneSQSystem() {}
virtual ~PxSceneSQSystem() {}
public:
PX_FORCE_INLINE void setSceneQueryUpdateMode(PxSceneQueryUpdateMode::Enum updateMode) { setUpdateMode(updateMode); }
PX_FORCE_INLINE PxSceneQueryUpdateMode::Enum getSceneQueryUpdateMode() const { return getUpdateMode(); }
PX_FORCE_INLINE PxU32 getSceneQueryStaticTimestamp() const { return getStaticTimestamp(); }
PX_FORCE_INLINE void flushQueryUpdates() { flushUpdates(); }
PX_FORCE_INLINE void forceDynamicTreeRebuild(bool rebuildStaticStructure, bool rebuildDynamicStructure)
{
if(rebuildStaticStructure)
forceRebuildDynamicTree(PX_SCENE_PRUNER_STATIC);
if(rebuildDynamicStructure)
forceRebuildDynamicTree(PX_SCENE_PRUNER_DYNAMIC);
}
virtual PxPruningStructureType::Enum getStaticStructure() const = 0;
virtual PxPruningStructureType::Enum getDynamicStructure() const = 0;
virtual void sceneQueriesUpdate(PxBaseTask* completionTask = NULL, bool controlSimulation = true) = 0;
virtual bool checkQueries(bool block = false) = 0;
virtual bool fetchQueries(bool block = false) = 0;
};
typedef PxU32 PxSQCompoundHandle;
typedef PxU32 PxSQPrunerHandle;
typedef void* PxSQBuildStepHandle;
class PxSceneQuerySystem : public PxSceneQuerySystemBase
{
protected:
PxSceneQuerySystem() {}
virtual ~PxSceneQuerySystem() {}
public:
virtual void release() = 0;
virtual void acquireReference() = 0;
virtual void preallocate(PxU32 prunerIndex, PxU32 nbShapes) = 0;
virtual void flushMemory() = 0;
virtual void addSQShape( const PxRigidActor& actor, const PxShape& shape, const PxBounds3& bounds,
const PxTransform& transform, const PxSQCompoundHandle* compoundHandle=NULL, bool hasPruningStructure=false) = 0;
virtual void removeSQShape(const PxRigidActor& actor, const PxShape& shape) = 0;
virtual void updateSQShape(const PxRigidActor& actor, const PxShape& shape, const PxTransform& transform) = 0;
virtual PxSQCompoundHandle addSQCompound(const PxRigidActor& actor, const PxShape** shapes, const PxBVH& bvh, const PxTransform* transforms) = 0;
virtual void removeSQCompound(PxSQCompoundHandle compoundHandle) = 0;
virtual void updateSQCompound(PxSQCompoundHandle compoundHandle, const PxTransform& compoundTransform) = 0;
virtual void shiftOrigin(const PxVec3& shift) = 0;
virtual void visualize(PxU32 prunerIndex, PxRenderOutput& out) const = 0;
virtual void merge(const PxPruningStructure& pruningStructure) = 0;
virtual PxSQPrunerHandle getHandle(const PxRigidActor& actor, const PxShape& shape, PxU32& prunerIndex) const = 0;
virtual void sync(PxU32 prunerIndex, const PxSQPrunerHandle* handles, const PxU32* indices, const PxBounds3* bounds, const PxTransform32* transforms, PxU32 count, const PxBitMap& ignoredIndices) = 0;
virtual void finalizeUpdates() = 0;
virtual PxSQBuildStepHandle prepareSceneQueryBuildStep(PxU32 prunerIndex) = 0;
virtual void sceneQueryBuildStep(PxSQBuildStepHandle handle) = 0;
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif