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physx/snippets/snippetvehiclecommon/SnippetVehicleSceneQuery.cpp
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physx/snippets/snippetvehiclecommon/SnippetVehicleSceneQuery.cpp
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include <new>
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#include "SnippetVehicleSceneQuery.h"
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#include "PxPhysicsAPI.h"
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namespace snippetvehicle
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{
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using namespace physx;
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void setupDrivableSurface(PxFilterData& filterData)
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{
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filterData.word3 = static_cast<PxU32>(DRIVABLE_SURFACE);
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}
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void setupNonDrivableSurface(PxFilterData& filterData)
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{
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filterData.word3 = UNDRIVABLE_SURFACE;
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}
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PxQueryHitType::Enum WheelSceneQueryPreFilterBlocking
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(PxFilterData filterData0, PxFilterData filterData1,
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const void* constantBlock, PxU32 constantBlockSize,
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PxHitFlags& queryFlags)
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{
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//filterData0 is the vehicle suspension query.
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//filterData1 is the shape potentially hit by the query.
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PX_UNUSED(filterData0);
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PX_UNUSED(constantBlock);
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PX_UNUSED(constantBlockSize);
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PX_UNUSED(queryFlags);
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return ((0 == (filterData1.word3 & DRIVABLE_SURFACE)) ? PxQueryHitType::eNONE : PxQueryHitType::eBLOCK);
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}
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PxQueryHitType::Enum WheelSceneQueryPostFilterBlocking
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(PxFilterData filterData0, PxFilterData filterData1,
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const void* constantBlock, PxU32 constantBlockSize,
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const PxQueryHit& hit)
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{
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PX_UNUSED(filterData0);
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PX_UNUSED(filterData1);
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PX_UNUSED(constantBlock);
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PX_UNUSED(constantBlockSize);
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if((static_cast<const PxSweepHit&>(hit)).hadInitialOverlap())
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return PxQueryHitType::eNONE;
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return PxQueryHitType::eBLOCK;
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}
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PxQueryHitType::Enum WheelSceneQueryPreFilterNonBlocking
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(PxFilterData filterData0, PxFilterData filterData1,
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const void* constantBlock, PxU32 constantBlockSize,
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PxHitFlags& queryFlags)
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{
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//filterData0 is the vehicle suspension query.
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//filterData1 is the shape potentially hit by the query.
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PX_UNUSED(filterData0);
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PX_UNUSED(constantBlock);
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PX_UNUSED(constantBlockSize);
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PX_UNUSED(queryFlags);
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return ((0 == (filterData1.word3 & DRIVABLE_SURFACE)) ? PxQueryHitType::eNONE : PxQueryHitType::eTOUCH);
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}
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PxQueryHitType::Enum WheelSceneQueryPostFilterNonBlocking
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(PxFilterData filterData0, PxFilterData filterData1,
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const void* constantBlock, PxU32 constantBlockSize,
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const PxQueryHit& hit)
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{
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PX_UNUSED(filterData0);
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PX_UNUSED(filterData1);
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PX_UNUSED(constantBlock);
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PX_UNUSED(constantBlockSize);
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if ((static_cast<const PxSweepHit&>(hit)).hadInitialOverlap())
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return PxQueryHitType::eNONE;
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return PxQueryHitType::eTOUCH;
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}
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VehicleSceneQueryData::VehicleSceneQueryData()
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: mNumQueriesPerBatch(0),
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mNumHitResultsPerQuery(0),
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mRaycastResults(NULL),
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mRaycastHitBuffer(NULL),
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mPreFilterShader(NULL),
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mPostFilterShader(NULL)
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{
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}
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VehicleSceneQueryData::~VehicleSceneQueryData()
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{
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}
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VehicleSceneQueryData* VehicleSceneQueryData::allocate
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(const PxU32 maxNumVehicles, const PxU32 maxNumWheelsPerVehicle, const PxU32 maxNumHitPointsPerWheel, const PxU32 numVehiclesInBatch,
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PxBatchQueryPreFilterShader preFilterShader, PxBatchQueryPostFilterShader postFilterShader,
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PxAllocatorCallback& allocator)
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{
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const PxU32 sqDataSize = ((sizeof(VehicleSceneQueryData) + 15) & ~15);
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const PxU32 maxNumWheels = maxNumVehicles*maxNumWheelsPerVehicle;
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const PxU32 raycastResultSize = ((sizeof(PxRaycastQueryResult)*maxNumWheels + 15) & ~15);
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const PxU32 sweepResultSize = ((sizeof(PxSweepQueryResult)*maxNumWheels + 15) & ~15);
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const PxU32 maxNumHitPoints = maxNumWheels*maxNumHitPointsPerWheel;
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const PxU32 raycastHitSize = ((sizeof(PxRaycastHit)*maxNumHitPoints + 15) & ~15);
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const PxU32 sweepHitSize = ((sizeof(PxSweepHit)*maxNumHitPoints + 15) & ~15);
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const PxU32 size = sqDataSize + raycastResultSize + raycastHitSize + sweepResultSize + sweepHitSize;
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PxU8* buffer = static_cast<PxU8*>(allocator.allocate(size, NULL, NULL, 0));
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VehicleSceneQueryData* sqData = new(buffer) VehicleSceneQueryData();
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sqData->mNumQueriesPerBatch = numVehiclesInBatch*maxNumWheelsPerVehicle;
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sqData->mNumHitResultsPerQuery = maxNumHitPointsPerWheel;
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buffer += sqDataSize;
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sqData->mRaycastResults = reinterpret_cast<PxRaycastQueryResult*>(buffer);
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buffer += raycastResultSize;
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sqData->mRaycastHitBuffer = reinterpret_cast<PxRaycastHit*>(buffer);
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buffer += raycastHitSize;
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sqData->mSweepResults = reinterpret_cast<PxSweepQueryResult*>(buffer);
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buffer += sweepResultSize;
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sqData->mSweepHitBuffer = reinterpret_cast<PxSweepHit*>(buffer);
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buffer += sweepHitSize;
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for (PxU32 i = 0; i < maxNumWheels; i++)
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{
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new(sqData->mRaycastResults + i) PxRaycastQueryResult();
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new(sqData->mSweepResults + i) PxSweepQueryResult();
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}
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for (PxU32 i = 0; i < maxNumHitPoints; i++)
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{
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new(sqData->mRaycastHitBuffer + i) PxRaycastHit();
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new(sqData->mSweepHitBuffer + i) PxSweepHit();
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}
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sqData->mPreFilterShader = preFilterShader;
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sqData->mPostFilterShader = postFilterShader;
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return sqData;
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}
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void VehicleSceneQueryData::free(PxAllocatorCallback& allocator)
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{
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allocator.deallocate(this);
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}
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PxBatchQuery* VehicleSceneQueryData::setUpBatchedSceneQuery(const PxU32 batchId, const VehicleSceneQueryData& vehicleSceneQueryData, PxScene* scene)
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{
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const PxU32 maxNumQueriesInBatch = vehicleSceneQueryData.mNumQueriesPerBatch;
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const PxU32 maxNumHitResultsInBatch = vehicleSceneQueryData.mNumQueriesPerBatch*vehicleSceneQueryData.mNumHitResultsPerQuery;
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PxBatchQueryDesc sqDesc(maxNumQueriesInBatch, maxNumQueriesInBatch, 0);
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sqDesc.queryMemory.userRaycastResultBuffer = vehicleSceneQueryData.mRaycastResults + batchId*maxNumQueriesInBatch;
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sqDesc.queryMemory.userRaycastTouchBuffer = vehicleSceneQueryData.mRaycastHitBuffer + batchId*maxNumHitResultsInBatch;
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sqDesc.queryMemory.raycastTouchBufferSize = maxNumHitResultsInBatch;
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sqDesc.queryMemory.userSweepResultBuffer = vehicleSceneQueryData.mSweepResults + batchId*maxNumQueriesInBatch;
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sqDesc.queryMemory.userSweepTouchBuffer = vehicleSceneQueryData.mSweepHitBuffer + batchId*maxNumHitResultsInBatch;
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sqDesc.queryMemory.sweepTouchBufferSize = maxNumHitResultsInBatch;
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sqDesc.preFilterShader = vehicleSceneQueryData.mPreFilterShader;
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sqDesc.postFilterShader = vehicleSceneQueryData.mPostFilterShader;
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return scene->createBatchQuery(sqDesc);
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}
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PxRaycastQueryResult* VehicleSceneQueryData::getRaycastQueryResultBuffer(const PxU32 batchId)
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{
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return (mRaycastResults + batchId*mNumQueriesPerBatch);
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}
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PxSweepQueryResult* VehicleSceneQueryData::getSweepQueryResultBuffer(const PxU32 batchId)
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{
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return (mSweepResults + batchId*mNumQueriesPerBatch);
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}
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PxU32 VehicleSceneQueryData::getQueryResultBufferSize() const
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{
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return mNumQueriesPerBatch;
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}
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} // namespace snippetvehicle
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