PxBroadPhase.h#
Fully qualified name: include/PxBroadPhase.h
File members: include/PxBroadPhase.h
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// Copyright (c) 2008-2025 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_BROAD_PHASE_H
#define PX_BROAD_PHASE_H
#include "PxPhysXConfig.h"
#include "foundation/PxBounds3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxBaseTask;
class PxCudaContextManager;
class PxAllocatorCallback;
struct PxBroadPhaseType
{
enum Enum
{
eSAP,
eMBP,
eABP,
ePABP,
eGPU,
eLAST
};
};
struct PxBroadPhaseRegion
{
PxBounds3 mBounds;
void* mUserData;
};
struct PxBroadPhaseRegionInfo
{
PxBroadPhaseRegion mRegion;
PxU32 mNbStaticObjects;
PxU32 mNbDynamicObjects;
bool mActive;
bool mOverlap;
};
struct PxBroadPhaseCaps
{
PxU32 mMaxNbRegions;
};
struct PxGpuBroadPhaseDesc
{
PxGpuBroadPhaseDesc() :
gpuBroadPhaseNbBitsShiftX (4),
gpuBroadPhaseNbBitsShiftY (4),
gpuBroadPhaseNbBitsShiftZ (4),
gpuBroadPhaseNbBitsEnvIDX (0),
gpuBroadPhaseNbBitsEnvIDY (0),
gpuBroadPhaseNbBitsEnvIDZ (0)
{
}
// The GPU broadphase encodes bounds as integers, and then right-shifts the data by this amount of bits.
// This makes the bounds a bit larger, which avoids losing and recreating overlaps over and over when
// two objects are just touching. This effect is similar to what can be achieved with the contact distance
// parameter, and the amount by which the bounds are inflated depends on the distance from the bounds to
// the origin (as the bounds encoding does not use a regular float-to-integer conversion, but instead a
// reinterpretation of the float's bits). The default value in the GPU broadphase has always been 4 bits
// but it is safe to use 0 here for more accurate bounds.
PxU8 gpuBroadPhaseNbBitsShiftX;
PxU8 gpuBroadPhaseNbBitsShiftY;
PxU8 gpuBroadPhaseNbBitsShiftZ;
// The bits lost by the previous shifts (gpuBroadPhaseNbBitsShiftXYZ) can be replaced with bits of the
// environment IDs. This only makes sense when these parameters are used (see PxActor::setEnvironmentID
// and PxAggregate::setEnvironmentID). In this case a number of bits from the environment IDs are stored
// in the MSBs of encoded bounds. This has the effect of virtually spreading the bounds over 3D space,
// which reduces the number of internal overlaps inside the broad-phase. This is mainly useful in RL
// scenarios with "co-located" environments, but it can also provide performance gains with regular grid
// configurations, that also generate a lot of internal overlaps on all coordinate axes.
//
// Beware: when using this feature, each object of each environment should be assigned a proper environment
// ID. Objects shared between all environments (i.e. objects whose environment ID is PX_INVALID_U32) will
// otherwise be internally assigned bounds that cover the entire 3D space, creating a lot of overlaps and
// potential performance issues. This is only a concern when gpuBroadPhaseNbBitsEnvIDX/Y/Z are non zero,
// shared objects are fine otherwise.
PxU8 gpuBroadPhaseNbBitsEnvIDX;
PxU8 gpuBroadPhaseNbBitsEnvIDY;
PxU8 gpuBroadPhaseNbBitsEnvIDZ;
PX_INLINE bool isValid() const
{
// This is used on 32bit data so it makes no sense to shift more than 32 bits.
// It also makes no sense to shift all the bits of source data.
if( gpuBroadPhaseNbBitsShiftX > 31
|| gpuBroadPhaseNbBitsShiftY > 31
|| gpuBroadPhaseNbBitsShiftZ > 31)
return false;
if( gpuBroadPhaseNbBitsEnvIDX > 31
|| gpuBroadPhaseNbBitsEnvIDY > 31
|| gpuBroadPhaseNbBitsEnvIDZ > 31)
return false;
// We can only store bits from environment IDs in bits shifted away from the source data.
// So we need to drop (shift) at least as many bits of the source data as we need for env IDs.
if( gpuBroadPhaseNbBitsEnvIDX > gpuBroadPhaseNbBitsShiftX
|| gpuBroadPhaseNbBitsEnvIDY > gpuBroadPhaseNbBitsShiftY
|| gpuBroadPhaseNbBitsEnvIDZ > gpuBroadPhaseNbBitsShiftZ)
return false;
return true;
}
};
class PxBroadPhaseDesc
{
public:
PxBroadPhaseDesc(PxBroadPhaseType::Enum type = PxBroadPhaseType::eLAST) :
mType (type),
mContextID (0),
mContextManager (NULL),
mFoundLostPairsCapacity (256 * 1024),
mDiscardStaticVsKinematic (false),
mDiscardKinematicVsKinematic(false)
{}
PxBroadPhaseType::Enum mType;
PxU64 mContextID;
PxCudaContextManager* mContextManager;
PxU32 mFoundLostPairsCapacity;
bool mDiscardStaticVsKinematic;
bool mDiscardKinematicVsKinematic;
PX_INLINE bool isValid() const
{
if(PxU32(mType)>=PxBroadPhaseType::eLAST)
return false;
if(mType==PxBroadPhaseType::eGPU && !mContextManager)
return false;
return true;
}
};
typedef PxU32 PxBpIndex;
typedef PxU32 PxBpFilterGroup;
#define PX_INVALID_BP_FILTER_GROUP 0xffffffff
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup PxGetBroadPhaseStaticFilterGroup();
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup PxGetBroadPhaseDynamicFilterGroup(PxU32 id);
PX_C_EXPORT PX_PHYSX_CORE_API PxBpFilterGroup PxGetBroadPhaseKinematicFilterGroup(PxU32 id);
class PxBroadPhaseUpdateData
{
public:
PxBroadPhaseUpdateData( const PxBpIndex* created, PxU32 nbCreated,
const PxBpIndex* updated, PxU32 nbUpdated,
const PxBpIndex* removed, PxU32 nbRemoved,
const PxBounds3* bounds, const PxBpFilterGroup* groups, const float* distances,
PxU32 capacity) :
mCreated (created), mNbCreated (nbCreated),
mUpdated (updated), mNbUpdated (nbUpdated),
mRemoved (removed), mNbRemoved (nbRemoved),
mBounds (bounds), mGroups (groups), mDistances (distances),
mCapacity (capacity)
{
}
PxBroadPhaseUpdateData(const PxBroadPhaseUpdateData& other) :
mCreated (other.mCreated), mNbCreated (other.mNbCreated),
mUpdated (other.mUpdated), mNbUpdated (other.mNbUpdated),
mRemoved (other.mRemoved), mNbRemoved (other.mNbRemoved),
mBounds (other.mBounds), mGroups (other.mGroups), mDistances (other.mDistances),
mCapacity (other.mCapacity)
{
}
PxBroadPhaseUpdateData& operator=(const PxBroadPhaseUpdateData& other);
const PxBpIndex* mCreated;
const PxU32 mNbCreated;
const PxBpIndex* mUpdated;
const PxU32 mNbUpdated;
const PxBpIndex* mRemoved;
const PxU32 mNbRemoved;
const PxBounds3* mBounds;
const PxBpFilterGroup* mGroups;
const float* mDistances;
const PxU32 mCapacity;
};
struct PxBroadPhasePair
{
PxBpIndex mID0;
PxBpIndex mID1;
};
struct PxBroadPhaseResults
{
PxBroadPhaseResults() : mNbCreatedPairs(0), mCreatedPairs(NULL), mNbDeletedPairs(0), mDeletedPairs(NULL) {}
PxU32 mNbCreatedPairs;
const PxBroadPhasePair* mCreatedPairs;
PxU32 mNbDeletedPairs;
const PxBroadPhasePair* mDeletedPairs;
};
class PxBroadPhaseRegions
{
protected:
PxBroadPhaseRegions() {}
virtual ~PxBroadPhaseRegions() {}
public:
virtual PxU32 getNbRegions() const = 0;
virtual PxU32 getRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
virtual PxU32 addRegion(const PxBroadPhaseRegion& region, bool populateRegion, const PxBounds3* bounds, const float* distances) = 0;
virtual bool removeRegion(PxU32 handle) = 0;
/*
\brief Return the number of objects that are not in any region.
*/
virtual PxU32 getNbOutOfBoundsObjects() const = 0;
/*
\brief Return an array of objects that are not in any region.
*/
virtual const PxU32* getOutOfBoundsObjects() const = 0;
};
class PxBroadPhase
{
protected:
PxBroadPhase() {}
virtual ~PxBroadPhase() {}
public:
/*
\brief Releases the broadphase.
*/
virtual void release() = 0;
virtual PxBroadPhaseType::Enum getType() const = 0;
virtual void getCaps(PxBroadPhaseCaps& caps) const = 0;
virtual PxBroadPhaseRegions* getRegions() = 0;
virtual PxAllocatorCallback* getAllocator() = 0;
virtual PxU64 getContextID() const = 0;
virtual void setScratchBlock(void* scratchBlock, PxU32 size) = 0;
virtual void update(const PxBroadPhaseUpdateData& updateData, PxBaseTask* continuation=NULL) = 0;
virtual void fetchResults(PxBroadPhaseResults& results) = 0;
PX_FORCE_INLINE void updateAndFetchResults(PxBroadPhaseResults& results, const PxBroadPhaseUpdateData& updateData)
{
update(updateData);
fetchResults(results);
}
PX_DEPRECATED PX_FORCE_INLINE void update(PxBroadPhaseResults& results, const PxBroadPhaseUpdateData& updateData)
{
update(updateData);
fetchResults(results);
}
};
PX_C_EXPORT PX_PHYSX_CORE_API PxBroadPhase* PxCreateBroadPhase(const PxBroadPhaseDesc& desc);
class PxAABBManager
{
protected:
PxAABBManager() {}
virtual ~PxAABBManager() {}
public:
/*
\brief Releases the AABB manager.
*/
virtual void release() = 0;
virtual PxBroadPhase& getBroadPhase() = 0;
virtual const PxBounds3* getBounds() const = 0;
virtual const float* getDistances() const = 0;
virtual const PxBpFilterGroup* getGroups() const = 0;
virtual PxU32 getCapacity() const = 0;
virtual void addObject(PxBpIndex index, const PxBounds3& bounds, PxBpFilterGroup group, float distance=0.0f) = 0;
virtual void removeObject(PxBpIndex index) = 0;
virtual void updateObject(PxBpIndex index, const PxBounds3* bounds=NULL, const float* distance=NULL) = 0;
virtual void update(PxBaseTask* continuation=NULL) = 0;
virtual void fetchResults(PxBroadPhaseResults& results) = 0;
PX_FORCE_INLINE void updateAndFetchResults(PxBroadPhaseResults& results)
{
update();
fetchResults(results);
}
PX_DEPRECATED PX_FORCE_INLINE void update(PxBroadPhaseResults& results)
{
update();
fetchResults(results);
}
};
PX_C_EXPORT PX_PHYSX_CORE_API PxAABBManager* PxCreateAABBManager(PxBroadPhase& broadphase);
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif