127 lines
4.7 KiB
C++
127 lines
4.7 KiB
C++
//
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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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#ifndef SNIPPET_VEHICLE_SCENEQUERY_H
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#define SNIPPET_VEHICLE_SCENEQUERY_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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enum
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{
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DRIVABLE_SURFACE = 0xffff0000,
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UNDRIVABLE_SURFACE = 0x0000ffff
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};
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void setupDrivableSurface(PxFilterData& filterData);
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void setupNonDrivableSurface(PxFilterData& filterData);
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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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PxQueryHitType::Enum WheelSceneQueryPostFilterBlocking
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(PxFilterData queryFilterData, PxFilterData objectFilterData,
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const void* constantBlock, PxU32 constantBlockSize,
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const PxQueryHit& hit);
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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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PxQueryHitType::Enum WheelSceneQueryPostFilterNonBlocking
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(PxFilterData queryFilterData, PxFilterData objectFilterData,
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const void* constantBlock, PxU32 constantBlockSize,
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const PxQueryHit& hit);
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//Data structure for quick setup of scene queries for suspension queries.
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class VehicleSceneQueryData
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{
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public:
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VehicleSceneQueryData();
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~VehicleSceneQueryData();
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//Allocate scene query data for up to maxNumVehicles and up to maxNumWheelsPerVehicle with numVehiclesInBatch per batch query.
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static 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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//Free allocated buffers.
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void free(PxAllocatorCallback& allocator);
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//Create a PxBatchQuery instance that will be used for a single specified batch.
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static PxBatchQuery* setUpBatchedSceneQuery(const PxU32 batchId, const VehicleSceneQueryData& vehicleSceneQueryData, PxScene* scene);
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//Return an array of scene query results for a single specified batch.
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PxRaycastQueryResult* getRaycastQueryResultBuffer(const PxU32 batchId);
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//Return an array of scene query results for a single specified batch.
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PxSweepQueryResult* getSweepQueryResultBuffer(const PxU32 batchId);
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//Get the number of scene query results that have been allocated for a single batch.
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PxU32 getQueryResultBufferSize() const;
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private:
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//Number of queries per batch
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PxU32 mNumQueriesPerBatch;
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//Number of hit results per query
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PxU32 mNumHitResultsPerQuery;
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//One result for each wheel.
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PxRaycastQueryResult* mRaycastResults;
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PxSweepQueryResult* mSweepResults;
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//One hit for each wheel.
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PxRaycastHit* mRaycastHitBuffer;
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PxSweepHit* mSweepHitBuffer;
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//Filter shader used to filter drivable and non-drivable surfaces
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PxBatchQueryPreFilterShader mPreFilterShader;
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//Filter shader used to reject hit shapes that initially overlap sweeps.
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PxBatchQueryPostFilterShader mPostFilterShader;
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};
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} // namespace snippetvehicle
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#endif //SNIPPET_VEHICLE_SCENEQUERY_H
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