101 lines
3.7 KiB
C++
101 lines
3.7 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) 2008-2019 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_RAYCAST_CCD_H
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#define PX_RAYCAST_CCD_H
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/** \addtogroup extensions
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxVec3.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxScene;
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class PxShape;
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class PxRigidDynamic;
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class RaycastCCDManagerInternal;
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/**
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\brief Raycast-CCD manager.
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Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.
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This implementation has some limitations:
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- it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
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- it is only implemented for simple actors with 1 shape (not for "compounds")
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Also, since it is raycast-based, the solution is not perfect. In particular:
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- small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small
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hole in the world (like the keyhole from a door).
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- dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against
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slow-moving dynamic objects.
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Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have
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scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE
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(and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.
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*/
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class RaycastCCDManager
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{
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public:
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RaycastCCDManager(PxScene* scene);
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~RaycastCCDManager();
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/**
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\brief Register dynamic object for raycast CCD.
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\param[in] actor object's actor
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\param[in] shape object's shape
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\return True if success
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*/
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bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
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/**
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\brief Perform raycast CCD. Call this after your simulate/fetchResults calls.
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\param[in] doDynamicDynamicCCD True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)
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*/
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void doRaycastCCD(bool doDynamicDynamicCCD);
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private:
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RaycastCCDManagerInternal* mImpl;
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};
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#if !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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