192 lines
5.1 KiB
C++
192 lines
5.1 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_CCT_OBSTACLES
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#define PX_PHYSICS_CCT_OBSTACLES
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/** \addtogroup character
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@{
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*/
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#include "characterkinematic/PxExtended.h"
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#include "geometry/PxGeometry.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 PxControllerManager;
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#define INVALID_OBSTACLE_HANDLE 0xffffffff
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/**
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\brief Base class for obstacles.
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@see PxBoxObstacle PxCapsuleObstacle PxObstacleContext
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*/
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class PxObstacle
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{
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protected:
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PxObstacle() :
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mType (PxGeometryType::eINVALID),
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mUserData (NULL),
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mPos (0.0, 0.0, 0.0),
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mRot (PxQuat(PxIdentity))
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{}
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PxGeometryType::Enum mType;
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public:
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PX_FORCE_INLINE PxGeometryType::Enum getType() const { return mType; }
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void* mUserData;
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PxExtendedVec3 mPos;
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PxQuat mRot;
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};
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/**
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\brief A box obstacle.
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@see PxObstacle PxCapsuleObstacle PxObstacleContext
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*/
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class PxBoxObstacle : public PxObstacle
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{
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public:
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PxBoxObstacle() :
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mHalfExtents(0.0f)
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{ mType = PxGeometryType::eBOX; }
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PxVec3 mHalfExtents;
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};
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/**
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\brief A capsule obstacle.
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@see PxBoxObstacle PxObstacle PxObstacleContext
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*/
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class PxCapsuleObstacle : public PxObstacle
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{
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public:
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PxCapsuleObstacle() :
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mHalfHeight (0.0f),
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mRadius (0.0f)
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{ mType = PxGeometryType::eCAPSULE; }
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PxReal mHalfHeight;
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PxReal mRadius;
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};
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typedef PxU32 ObstacleHandle;
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/**
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\brief Context class for obstacles.
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An obstacle context class contains and manages a set of user-defined obstacles.
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@see PxBoxObstacle PxCapsuleObstacle PxObstacle
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*/
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class PxObstacleContext
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{
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public:
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PxObstacleContext() {}
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virtual ~PxObstacleContext() {}
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/**
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\brief Releases the context.
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*/
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virtual void release() = 0;
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/**
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\brief Retrieves the controller manager associated with this context.
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\return The associated controller manager
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*/
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virtual PxControllerManager& getControllerManager() const = 0;
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/**
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\brief Adds an obstacle to the context.
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\param [in] obstacle Obstacle data for the new obstacle. The data gets copied.
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\return Handle for newly-added obstacle
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*/
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virtual ObstacleHandle addObstacle(const PxObstacle& obstacle) = 0;
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/**
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\brief Removes an obstacle from the context.
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\param [in] handle Handle for the obstacle object that needs to be removed.
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\return True if success
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*/
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virtual bool removeObstacle(ObstacleHandle handle) = 0;
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/**
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\brief Updates data for an existing obstacle.
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\param [in] handle Handle for the obstacle object that needs to be updated.
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\param [in] obstacle New obstacle data
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\return True if success
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*/
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virtual bool updateObstacle(ObstacleHandle handle, const PxObstacle& obstacle) = 0;
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/**
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\brief Retrieves number of obstacles in the context.
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\return Number of obstacles in the context
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*/
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virtual PxU32 getNbObstacles() const = 0;
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/**
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\brief Retrieves desired obstacle.
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\param [in] i Obstacle index
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\return Desired obstacle
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*/
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virtual const PxObstacle* getObstacle(PxU32 i) const = 0;
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/**
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\brief Retrieves desired obstacle by given handle.
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\param [in] handle Obstacle handle
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\return Desired obstacle
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*/
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virtual const PxObstacle* getObstacleByHandle(ObstacleHandle handle) const = 0;
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};
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#if !PX_DOXYGEN
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}
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#endif
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/** @} */
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#endif
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