148 lines
5.6 KiB
C++
148 lines
5.6 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) 2008-2018 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 VEHICLE_UTILSCENEQUERY_H
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#define VEHICLE_UTILSCENEQUERY_H
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#include "common/PxPhysXCommonConfig.h"
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#include "vehicle/PxVehicleSDK.h"
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#include "foundation/PxPreprocessor.h"
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#include "PxScene.h"
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#include "PxBatchQueryDesc.h"
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using namespace physx;
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//Make sure that suspension raycasts only consider shapes flagged as drivable that don't belong to the owner vehicle.
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enum
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{
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VEHICLE_DRIVABLE_SURFACE = 0xffff0000,
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VEHICLE_UNDRIVABLE_SURFACE = 0x0000ffff
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};
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static PxQueryHitType::Enum SampleVehicleWheelRaycastPreFilter(
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PxFilterData filterData0,
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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 raycast.
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//filterData1 is the shape potentially hit by the raycast.
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PX_UNUSED(queryFlags);
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PX_UNUSED(constantBlockSize);
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PX_UNUSED(constantBlock);
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PX_UNUSED(filterData0);
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return ((0 == (filterData1.word3 & VEHICLE_DRIVABLE_SURFACE)) ? PxQueryHitType::eNONE : PxQueryHitType::eBLOCK);
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}
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//Set up query filter data so that vehicles can drive on shapes with this filter data.
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//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
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void VehicleSetupDrivableShapeQueryFilterData(PxFilterData* qryFilterData);
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//Set up query filter data so that vehicles cannot drive on shapes with this filter data.
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//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
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void VehicleSetupNonDrivableShapeQueryFilterData(PxFilterData* qryFilterData);
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//Set up query filter data for the shapes of a vehicle to ensure that vehicles cannot drive on themselves
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//but can drive on the shapes of other vehicles.
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//Note that we have reserved word3 of the PxFilterData for vehicle raycast query filtering.
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void VehicleSetupVehicleShapeQueryFilterData(PxFilterData* qryFilterData);
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//Data structure for quick setup of scene queries for suspension raycasts.
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class VehicleSceneQueryData
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{
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public:
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//Allocate scene query data for up to maxNumWheels suspension raycasts.
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static VehicleSceneQueryData* allocate(const PxU32 maxNumWheels);
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//Free allocated buffer for scene queries of suspension raycasts.
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void free();
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//Create a PxBatchQuery instance that will be used as a single batched raycast of multiple suspension lines of multiple vehicles
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PxBatchQuery* setUpBatchedSceneQuery(PxScene* scene);
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PxBatchQuery* setUpBatchedSceneQuerySweep(PxScene* scene);
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//Get the buffer of scene query results that will be used by PxVehicleNWSuspensionRaycasts
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PxRaycastQueryResult* getRaycastQueryResultBuffer() { return mSqResults; }
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//Get the number of scene query results that have been allocated for use by PxVehicleNWSuspensionRaycasts
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PxU32 getRaycastQueryResultBufferSize() const { return mNumQueries; }
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//Get the buffer of scene query results that will be used by PxVehicleNWSuspensionRaycasts
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PxSweepQueryResult* getSweepQueryResultBuffer() { return mSqSweepResults; }
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//Get the number of scene query results that have been allocated for use by PxVehicleNWSuspensionRaycasts
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PxU32 getSweepQueryResultBufferSize() const { return mNumSweepQueries; }
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//Set the pre-filter shader
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void setPreFilterShader(PxBatchQueryPreFilterShader preFilterShader) { mPreFilterShader = preFilterShader; }
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private:
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//One result for each wheel.
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PxRaycastQueryResult* mSqResults;
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PxU32 mNbSqResults;
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//One hit for each wheel.
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PxRaycastHit* mSqHitBuffer;
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PxSweepQueryResult* mSqSweepResults;
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PxU32 mNbSqSweepResults;
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PxSweepHit* mSqSweepHitBuffer;
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//Filter shader used to filter drivable and non-drivable surfaces
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PxBatchQueryPreFilterShader mPreFilterShader;
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//Maximum number of suspension raycasts that can be supported by the allocated buffers
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//assuming a single query and hit per suspension line.
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PxU32 mNumQueries;
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PxU32 mNumSweepQueries;
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void init()
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{
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mPreFilterShader = SampleVehicleWheelRaycastPreFilter;
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}
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VehicleSceneQueryData()
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{
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init();
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}
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~VehicleSceneQueryData()
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{
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}
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};
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#endif //SAMPLEVEHICLE_UTILSCENEQUERY_H
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