Init

kaplademo/source/kaplaDemo/SceneVehicleSceneQuery.h

@@ -0,0 +1,147 @@
+//
+// 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 VEHICLE_UTILSCENEQUERY_H
+#define VEHICLE_UTILSCENEQUERY_H
+
+#include "common/PxPhysXCommonConfig.h"
+#include "vehicle/PxVehicleSDK.h"
+#include "foundation/PxPreprocessor.h"
+#include "PxScene.h"
+#include "PxBatchQueryDesc.h"
+
+using namespace physx;
+
+//Make sure that suspension raycasts only consider shapes flagged as drivable that don't belong to the owner vehicle.
+enum
+{
+	VEHICLE_DRIVABLE_SURFACE = 0xffff0000,
+	VEHICLE_UNDRIVABLE_SURFACE = 0x0000ffff
+};
+
+static PxQueryHitType::Enum SampleVehicleWheelRaycastPreFilter(
+	PxFilterData filterData0,
+	PxFilterData filterData1,
+	const void* constantBlock, PxU32 constantBlockSize,
+	PxHitFlags& queryFlags)
+{
+	//filterData0 is the vehicle suspension raycast.
+	//filterData1 is the shape potentially hit by the raycast.
+	PX_UNUSED(queryFlags);
+	PX_UNUSED(constantBlockSize);
+	PX_UNUSED(constantBlock);
+	PX_UNUSED(filterData0);
+	return ((0 == (filterData1.word3 & VEHICLE_DRIVABLE_SURFACE)) ? PxQueryHitType::eNONE : PxQueryHitType::eBLOCK);
+}
+
+
+//Set up query filter data so that vehicles can drive on shapes with this filter data.
+//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
+void VehicleSetupDrivableShapeQueryFilterData(PxFilterData* qryFilterData);
+
+//Set up query filter data so that vehicles cannot drive on shapes with this filter data.
+//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
+void VehicleSetupNonDrivableShapeQueryFilterData(PxFilterData* qryFilterData);
+
+//Set up query filter data for the shapes of a vehicle to ensure that vehicles cannot drive on themselves 
+//but can drive on the shapes of other vehicles.
+//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
+void VehicleSetupVehicleShapeQueryFilterData(PxFilterData* qryFilterData);
+
+//Data structure for quick setup of scene queries for suspension raycasts.
+class VehicleSceneQueryData
+{
+public:
+
+	//Allocate scene query data for up to maxNumWheels suspension raycasts.
+	static VehicleSceneQueryData* allocate(const PxU32 maxNumWheels);
+
+	//Free allocated buffer for scene queries of suspension raycasts.
+	void free();
+
+	//Create a PxBatchQuery instance that will be used as a single batched raycast of multiple suspension lines of multiple vehicles
+	PxBatchQuery* setUpBatchedSceneQuery(PxScene* scene);
+
+	PxBatchQuery*  setUpBatchedSceneQuerySweep(PxScene* scene);
+
+	//Get the buffer of scene query results that will be used by PxVehicleNWSuspensionRaycasts
+	PxRaycastQueryResult* getRaycastQueryResultBuffer() { return mSqResults; }
+
+	//Get the number of scene query results that have been allocated for use by PxVehicleNWSuspensionRaycasts
+	PxU32 getRaycastQueryResultBufferSize() const { return mNumQueries; }
+
+
+	//Get the buffer of scene query results that will be used by PxVehicleNWSuspensionRaycasts
+	PxSweepQueryResult* getSweepQueryResultBuffer() { return mSqSweepResults; }
+
+	//Get the number of scene query results that have been allocated for use by PxVehicleNWSuspensionRaycasts
+	PxU32 getSweepQueryResultBufferSize() const { return mNumSweepQueries; }
+
+	//Set the pre-filter shader 
+	void setPreFilterShader(PxBatchQueryPreFilterShader preFilterShader) { mPreFilterShader = preFilterShader; }
+
+private:
+
+	//One result for each wheel.
+	PxRaycastQueryResult* mSqResults;
+	PxU32 mNbSqResults;
+
+	//One hit for each wheel.
+	PxRaycastHit* mSqHitBuffer;
+
+	PxSweepQueryResult* mSqSweepResults;
+	PxU32 mNbSqSweepResults;
+	PxSweepHit* mSqSweepHitBuffer;
+
+	//Filter shader used to filter drivable and non-drivable surfaces
+	PxBatchQueryPreFilterShader mPreFilterShader;
+
+	//Maximum number of suspension raycasts that can be supported by the allocated buffers 
+	//assuming a single query and hit per suspension line.
+	PxU32 mNumQueries;
+
+	PxU32 mNumSweepQueries;
+
+	void init()
+	{
+		mPreFilterShader = SampleVehicleWheelRaycastPreFilter;
+	}
+
+	VehicleSceneQueryData()
+	{
+		init();
+	}
+
+	~VehicleSceneQueryData()
+	{
+	}
+};
+
+
+#endif //SAMPLEVEHICLE_UTILSCENEQUERY_H