178 lines
7.4 KiB
C++
178 lines
7.4 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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 PX_PHYSICS_NX_SCENEQUERYREPORT
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#define PX_PHYSICS_NX_SCENEQUERYREPORT
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/** \addtogroup scenequery
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@{
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*/
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#include "PxPhysX.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxFlags.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxShape;
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class PxActor;
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/**
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\brief Scene query specification.
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A PxSceneQueryFlag parameter to a scene query call determines which optional fields in the output #PxSceneQueryHit are to be filled in.
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In #PxSceneQueryHit it is used to inform which optional fields have been filled in.
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The PxSceneQueryFlag::eINITIAL_OVERLAP controls the query behavior when the swept shape initially overlaps with a shape of the scene.
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If the flag is set, additional overlap tests are performed to detect the initial overlaps. If you can guarantee your swept shape starts
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from an empty portion of space, it is best (more efficient) to disable that flag. In case an initial overlap is detected,
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PxSceneQueryFlag::eINITIAL_OVERLAP_KEEP controls what to do next. If PxSceneQueryFlag::eINITIAL_OVERLAP_KEEP is set, the initially
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overlapping shape is kept, returned distance is set to zero, and returned normal is set to the opposite of the sweep direction. If
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that flag is not set however, the shape is simply ignored (filtered out).
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@see PxSceneQueryHit PxScene.raycastSingle PxScene.raycastMultiple, PxScene.sweepSingle, PxScene.sweepMultiple
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*/
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struct PxSceneQueryFlag
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{
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enum Enum
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{
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eIMPACT = (1<<0), //!< "impact" member of #PxSceneQueryHit is valid
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eNORMAL = (1<<1), //!< "normal" member of #PxSceneQueryHit is valid
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eDISTANCE = (1<<2), //!< "distance" member of #PxSceneQueryHit is valid
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eUV = (1<<3), //!< "u" and "v" barycentric coordinates of #PxSceneQueryHit are valid. Note: Not applicable for sweep queries.
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eINITIAL_OVERLAP = (1<<4), //!< Enable/disable initial overlap tests in sweeps. Also mark returned hits as initially overlapping.
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eINITIAL_OVERLAP_KEEP = (1<<5), //!< Only valid when eINITIAL_OVERLAP is used. Keep or discard shapes initially overlapping with swept volume.
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eTOUCHING_HIT = (1<<6), //!< specified the hit object as a touching hit. See also #PxSceneQueryHitType
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eBLOCKING_HIT = (1<<7), //!< specified the hit object as a blocking hit. See also #PxSceneQueryHitType
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eDIRECT_SWEEP = (1<<8), //!< Use more accurate sweep function, but slower
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};
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};
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/**
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\brief collection of set bits defined in PxSceneQueryFlag.
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@see PxSceneQueryFlag
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*/
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typedef PxFlags<PxSceneQueryFlag::Enum> PxSceneQueryFlags;
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PX_FLAGS_OPERATORS(PxSceneQueryFlag::Enum,PxU32);
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/**
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\brief Scene query hit information.
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All members of the PxSceneQueryHit structure are not always available. For example when the query hits a sphere,
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the faceIndex member is not computed.
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*/
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struct PxSceneQueryHit
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{
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PX_INLINE PxSceneQueryHit() : shape(NULL), faceIndex(0xffffffff), flags(0) {}
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PxShape* shape; //!< Hit shape
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PxU32 faceIndex; //!< Face index of touched triangle, for triangle mesh and height field. Note: These are post cooking indices, use #PxTriangleMesh::getTrianglesRemap() to get the indices of the original mesh
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//!< This also contains the index of touched polygon for sweeps-vs-convex-meshes. Use #PxConvexMesh::getPolygonData() to retrieve touched polygon.
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PxSceneQueryFlags flags; //!< Hit flags specifying which optional members are valid.
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};
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/**
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\brief Scene query hit information for queries with impacts.
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::PxSceneQueryFlag flags can be passed to scene query functions, as an optimization, to cause the SDK to
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only generate specific members of this structure.
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*/
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struct PxSceneQueryImpactHit : public PxSceneQueryHit
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{
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PX_INLINE PxSceneQueryImpactHit() : impact(PxVec3(0)), normal(PxVec3(0)), distance(-1.0f) {}
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// the following fields are set in accordance with the #PxSceneQueryFlags
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PxVec3 impact; //!< World-space impact point (flag: #PxSceneQueryFlag::eIMPACT)
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PxVec3 normal; //!< World-space impact normal (flag: #PxSceneQueryFlag::eNORMAL)
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PxF32 distance; //!< Distance to hit (flag: #PxSceneQueryFlag::eDISTANCE)
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};
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/**
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\brief This structure captures results for a single sweep query.
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See #PxBatchQuery and #PxScene for sweep methods.
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*/
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struct PxSweepHit : public PxSceneQueryImpactHit
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{
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PX_INLINE PxSweepHit() : sweepGeometryIndex(0) {}
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PxU32 sweepGeometryIndex; //!< Only valid when using PxBatchQuery::linearCompoundGeometrySweepSingle() or PxScene::SweepAny/Single/Multiple() with compound of geometry objects. Index of the geometry object that hits the hitObject.
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PxU32 padding;
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};
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/**
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\brief Raycast hit information.
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::PxSceneQueryFlag flags can be passed to raycasting functions, as an optimization, to cause the SDK to
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only generate specific members of this structure.
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Some members like barycentric coordinates are currently only computed for triangle meshes and convexes, but next versions
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might provide them in other cases. The client code should check #flags to make sure returned values are
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relevant.
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@see PxBatchQuery.raycastMultiple PxBatchQuery.raycastSingle PxScene.raycastAny PxScene.raycastSingle PxScene.raycastMultiple
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*/
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struct PxRaycastHit : public PxSceneQueryImpactHit
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{
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PX_INLINE PxRaycastHit() : u(0.0f), v(0.0f) {}
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// the following fields are set in accordance with the #PxSceneQueryFlags
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PxReal u, v; //!< barycentric coordinates of hit point, for triangle mesh and height field (flag: #PxSceneQueryFlag::eUV)
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};
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#ifndef PX_X64
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxRaycastHit)& 0x0f));
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#endif
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/**
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\brief Specifies the behaviour after a query result.
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@see PxBatchQuery
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*/
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struct PxSceneQueryReportResult
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{
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enum Enum
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{
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eCONTINUE, //!< Continue reporting more results
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eABORT_QUERY, //!< Stop reporting results for current query
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eFORCE_DWORD = 0x7fffffff
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};
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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