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physx/include/characterkinematic/PxControllerObstacles.h

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+//
+// 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) 2008-2021 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_PHYSICS_CCT_OBSTACLES
+#define PX_PHYSICS_CCT_OBSTACLES
+/** \addtogroup character
+  @{
+*/
+
+#include "characterkinematic/PxExtended.h"
+#include "geometry/PxGeometry.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+	class PxControllerManager;
+
+	#define INVALID_OBSTACLE_HANDLE	0xffffffff
+
+	/**
+	\brief Base class for obstacles.
+
+	@see PxBoxObstacle PxCapsuleObstacle PxObstacleContext
+	*/
+	class PxObstacle
+	{
+		protected:
+												PxObstacle() :
+													mType		(PxGeometryType::eINVALID),
+													mUserData	(NULL),
+													mPos		(0.0, 0.0, 0.0),
+													mRot		(PxQuat(PxIdentity))
+												{}
+
+						PxGeometryType::Enum	mType; 
+		public:
+
+		PX_FORCE_INLINE	PxGeometryType::Enum	getType()	const	{ return mType;	}
+
+						void*					mUserData;
+						PxExtendedVec3			mPos;
+						PxQuat					mRot;
+	};
+
+	/**
+	\brief A box obstacle.
+
+	@see PxObstacle PxCapsuleObstacle PxObstacleContext
+	*/
+	class PxBoxObstacle : public PxObstacle
+	{
+		public:
+												PxBoxObstacle() :
+													mHalfExtents(0.0f)
+												{ mType = PxGeometryType::eBOX;		 }
+
+						PxVec3					mHalfExtents;
+	};
+
+	/**
+	\brief A capsule obstacle.
+
+	@see PxBoxObstacle PxObstacle PxObstacleContext
+	*/
+	class PxCapsuleObstacle : public PxObstacle
+	{
+		public:
+												PxCapsuleObstacle() :
+													mHalfHeight	(0.0f),
+													mRadius		(0.0f)
+												{ mType = PxGeometryType::eCAPSULE;	 }
+
+						PxReal					mHalfHeight;
+						PxReal					mRadius;
+	};
+
+	typedef PxU32	ObstacleHandle;
+
+	/**
+	\brief Context class for obstacles.
+
+	An obstacle context class contains and manages a set of user-defined obstacles.
+
+	@see PxBoxObstacle PxCapsuleObstacle PxObstacle
+	*/
+	class PxObstacleContext
+	{
+		public:
+									PxObstacleContext()		{}
+		virtual						~PxObstacleContext()	{}
+
+		/**
+		\brief Releases the context.
+		*/
+		virtual	void				release()															= 0;
+
+		/**
+		\brief Retrieves the controller manager associated with this context.
+
+		\return The associated controller manager
+		*/
+		virtual PxControllerManager&	getControllerManager() const									= 0;
+
+		/**
+		\brief Adds an obstacle to the context.
+
+		\param	[in]	obstacle	Obstacle data for the new obstacle. The data gets copied.
+
+		\return Handle for newly-added obstacle
+		*/
+		virtual	ObstacleHandle		addObstacle(const PxObstacle& obstacle)								= 0;
+
+		/**
+		\brief Removes an obstacle from the context.
+
+		\param	[in]	handle	Handle for the obstacle object that needs to be removed.
+
+		\return True if success
+		*/
+		virtual	bool				removeObstacle(ObstacleHandle handle)								= 0;
+
+		/**
+		\brief Updates data for an existing obstacle.
+
+		\param	[in]	handle		Handle for the obstacle object that needs to be updated.
+		\param	[in]	obstacle	New obstacle data
+
+		\return True if success
+		*/
+		virtual	bool				updateObstacle(ObstacleHandle handle, const PxObstacle& obstacle)	= 0;
+
+		/**
+		\brief Retrieves number of obstacles in the context.
+
+		\return Number of obstacles in the context
+		*/
+		virtual	PxU32				getNbObstacles()											const	= 0;
+
+		/**
+		\brief Retrieves desired obstacle.
+
+		\param	[in]	i			Obstacle index
+
+		\return Desired obstacle
+		*/
+		virtual	const PxObstacle*	getObstacle(PxU32 i)										const	= 0;
+
+		/**
+		\brief Retrieves desired obstacle by given handle.
+
+		\param	[in]	handle			Obstacle handle
+
+		\return Desired obstacle
+		*/
+		virtual	const PxObstacle*	getObstacleByHandle(ObstacleHandle handle)					const	= 0;
+	};
+
+#if !PX_DOXYGEN
+}
+#endif
+
+/** @} */
+#endif