include/geometry/PxBVH.h
File members: include/geometry/PxBVH.h
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// Copyright (c) 2008-2024 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_BVH_H
#define PX_BVH_H
#include "common/PxBase.h"
#include "foundation/PxTransform.h"
#include "foundation/PxBounds3.h"
#include "geometry/PxGeometryQueryFlags.h"
#include "geometry/PxReportCallback.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxGeometry;
class PxBVH : public PxBase
{
public:
struct RaycastCallback
{
RaycastCallback() {}
virtual ~RaycastCallback() {}
// Reports one raycast or sweep hit.
// boundsIndex [in] Index of touched bounds
// distance [in/out] Impact distance. Shrinks the ray if written out.
// return false to abort the query
virtual bool reportHit(PxU32 boundsIndex, PxReal& distance) = 0;
};
struct OverlapCallback
{
OverlapCallback() {}
virtual ~OverlapCallback() {}
// Reports one overlap hit.
// boundsIndex [in] Index of touched bounds
// return false to abort the query
virtual bool reportHit(PxU32 boundsIndex) = 0;
};
struct TraversalCallback
{
TraversalCallback() {}
virtual ~TraversalCallback() {}
// Reports one visited node.
// bounds [in] node bounds
// return true to continue traversing this branch
virtual bool visitNode(const PxBounds3& bounds) = 0;
// Reports one validated leaf node. Called on leaf nodes after visitNode returns true on them.
// nbPrims [in] number of primitives in the node
// prims [in] primitives in the node (nbPrims entries)
// return false to abort the query
virtual bool reportLeaf(PxU32 nbPrims, const PxU32* prims) = 0;
};
virtual bool raycast(const PxVec3& origin, const PxVec3& unitDir, float maxDist, RaycastCallback& cb, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual bool sweep(const PxGeometry& geom, const PxTransform& pose, const PxVec3& unitDir, float maxDist, RaycastCallback& cb, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual bool overlap(const PxGeometry& geom, const PxTransform& pose, OverlapCallback& cb, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual bool cull(PxU32 nbPlanes, const PxPlane* planes, OverlapCallback& cb, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;
virtual PxU32 getNbBounds() const = 0;
virtual const PxBounds3* getBounds() const = 0;
PX_FORCE_INLINE PxBounds3* getBoundsForModification()
{
return const_cast<PxBounds3*>(getBounds());
}
virtual void refit() = 0;
virtual bool updateBounds(PxU32 boundsIndex, const PxBounds3& newBounds) = 0;
virtual void partialRefit() = 0;
virtual bool traverse(TraversalCallback& cb) const = 0;
virtual const char* getConcreteTypeName() const { return "PxBVH"; }
protected:
PX_INLINE PxBVH(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
PX_INLINE PxBVH(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
virtual ~PxBVH() {}
virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxBVH", PxBase); }
};
struct PxGeomIndexPair;
PX_C_EXPORT PX_PHYSX_COMMON_API bool PX_CALL_CONV PxFindOverlap(PxReportCallback<PxGeomIndexPair>& callback, const PxBVH& bvh0, const PxBVH& bvh1);
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif