91 lines
3.9 KiB
C++
91 lines
3.9 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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#include "SampleVehicle_SceneQuery.h"
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#include "vehicle/PxVehicleSDK.h"
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#include "PxFiltering.h"
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#include "PsFoundation.h"
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#include "PsUtilities.h"
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#define CHECK_MSG(exp, msg) (!!(exp) || (physx::shdfnd::getFoundation().error(physx::PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, msg), 0) )
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#define SIZEALIGN16(size) (((unsigned)(size)+15)&((unsigned)(~15)));
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void SampleVehicleSetupDrivableShapeQueryFilterData(PxFilterData* qryFilterData)
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{
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CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
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qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_DRIVABLE_SURFACE;
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}
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void SampleVehicleSetupNonDrivableShapeQueryFilterData(PxFilterData* qryFilterData)
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{
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CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
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qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_UNDRIVABLE_SURFACE;
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}
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void SampleVehicleSetupVehicleShapeQueryFilterData(PxFilterData* qryFilterData)
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{
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CHECK_MSG(0==qryFilterData->word3, "word3 is reserved for filter data for vehicle raycast queries");
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qryFilterData->word3 = (PxU32)SAMPLEVEHICLE_UNDRIVABLE_SURFACE;
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}
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SampleVehicleSceneQueryData* SampleVehicleSceneQueryData::allocate(const PxU32 maxNumWheels)
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{
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const PxU32 size0 = SIZEALIGN16(sizeof(SampleVehicleSceneQueryData));
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const PxU32 size1 = SIZEALIGN16(sizeof(PxRaycastQueryResult)*maxNumWheels);
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const PxU32 size2 = SIZEALIGN16(sizeof(PxRaycastHit)*maxNumWheels);
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const PxU32 size = size0 + size1 + size2;
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SampleVehicleSceneQueryData* sqData = (SampleVehicleSceneQueryData*)PX_ALLOC(size, "PxVehicleNWSceneQueryData");
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sqData->init();
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PxU8* ptr = (PxU8*) sqData;
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ptr += size0;
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sqData->mSqResults = (PxRaycastQueryResult*)ptr;
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sqData->mNbSqResults = maxNumWheels;
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ptr += size1;
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sqData->mSqHitBuffer = (PxRaycastHit*)ptr;
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ptr += size2;
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sqData->mNumQueries = maxNumWheels;
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return sqData;
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}
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void SampleVehicleSceneQueryData::free()
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{
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PX_FREE(this);
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}
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PxBatchQuery* SampleVehicleSceneQueryData::setUpBatchedSceneQuery(PxScene* scene)
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{
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PxBatchQueryDesc sqDesc(mNbSqResults, 0, 0);
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sqDesc.queryMemory.userRaycastResultBuffer = mSqResults;
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sqDesc.queryMemory.userRaycastTouchBuffer = mSqHitBuffer;
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sqDesc.queryMemory.raycastTouchBufferSize = mNumQueries;
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sqDesc.preFilterShader = mPreFilterShader;
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return scene->createBatchQuery(sqDesc);
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}
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