139 lines
4.7 KiB
C++
139 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) 2008-2019 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_PHYSICS_BVH_STRUCTURE
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#define PX_PHYSICS_BVH_STRUCTURE
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxBase.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxBounds3.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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/**
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\brief Class representing the bounding volume hierarchy structure.
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PxBVHStructure can be provided to PxScene::addActor. In this case the scene query
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pruning structure inside PhysX SDK will store/update one bound per actor.
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The scene queries against such an actor will query actor bounds and then
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make a local space query against the provided BVH structure, which is in
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actor's local space.
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@see PxScene::addActor
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*/
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class PxBVHStructure: public PxBase
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{
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public:
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/**
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\brief Raycast test against a BVH structure.
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\param[in] origin The origin of the ray.
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\param[in] unitDir Normalized direction of the ray.
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\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
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\param[in] maxHits Max number of returned hits = size of 'rayHits' buffer
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\param[out] rayHits Raycast hits information, bounds indices
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\return Number of hits
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*/
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virtual PxU32 raycast(const PxVec3& origin,
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const PxVec3& unitDir,
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PxReal maxDist,
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PxU32 maxHits,
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PxU32* PX_RESTRICT rayHits) const = 0;
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/**
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\brief Sweep test against a BVH structure.
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\param[in] aabb The axis aligned bounding box to sweep
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\param[in] unitDir Normalized direction of the sweep.
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\param[in] maxDist Maximum sweep length, has to be in the [0, inf) range
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\param[in] maxHits Max number of returned hits = size of 'sweepHits' buffer
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\param[out] sweepHits Sweep hits information, bounds indices
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\return Number of hits
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*/
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virtual PxU32 sweep(const PxBounds3& aabb,
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const PxVec3& unitDir,
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PxReal maxDist,
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PxU32 maxHits,
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PxU32* PX_RESTRICT sweepHits) const = 0;
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/**
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\brief AABB overlap test against a BVH structure.
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\param[in] aabb The axis aligned bounding box
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\param[in] maxHits Max number of returned hits = size of 'overlapHits' buffer
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\param[out] overlapHits Overlap hits information, bounds indices
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\return Number of hits
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*/
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virtual PxU32 overlap(const PxBounds3& aabb,
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PxU32 maxHits,
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PxU32* PX_RESTRICT overlapHits) const = 0;
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/**
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\brief Retrieve the bounds in the BVH.
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@see PxBounds3
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*/
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virtual const PxBounds3* getBounds() const = 0;
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/**
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\brief Returns the number of bounds in the BVH.
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You can use #getBounds() to retrieve the bounds.
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\return Number of bounds in the BVH.
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*/
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virtual PxU32 getNbBounds() const = 0;
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virtual const char* getConcreteTypeName() const { return "PxBVHStructure"; }
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protected:
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PX_INLINE PxBVHStructure(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
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PX_INLINE PxBVHStructure(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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virtual ~PxBVHStructure() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxBVHStructure", name) || PxBase::isKindOf(name); }
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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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