GRK/dependencies/physx-4.1/include/geometry/PxBVHStructure.h
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_BVH_STRUCTURE
#define PX_PHYSICS_BVH_STRUCTURE
/** \addtogroup geomutils
@{
*/
#include "common/PxBase.h"
#include "foundation/PxTransform.h"
#include "foundation/PxBounds3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Class representing the bounding volume hierarchy structure.
PxBVHStructure can be provided to PxScene::addActor. In this case the scene query
pruning structure inside PhysX SDK will store/update one bound per actor.
The scene queries against such an actor will query actor bounds and then
make a local space query against the provided BVH structure, which is in
actor's local space.
@see PxScene::addActor
*/
class PxBVHStructure: public PxBase
{
public:
/**
\brief Raycast test against a BVH structure.
\param[in] origin The origin of the ray.
\param[in] unitDir Normalized direction of the ray.
\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
\param[in] maxHits Max number of returned hits = size of 'rayHits' buffer
\param[out] rayHits Raycast hits information, bounds indices
\return Number of hits
*/
virtual PxU32 raycast(const PxVec3& origin,
const PxVec3& unitDir,
PxReal maxDist,
PxU32 maxHits,
PxU32* PX_RESTRICT rayHits) const = 0;
/**
\brief Sweep test against a BVH structure.
\param[in] aabb The axis aligned bounding box to sweep
\param[in] unitDir Normalized direction of the sweep.
\param[in] maxDist Maximum sweep length, has to be in the [0, inf) range
\param[in] maxHits Max number of returned hits = size of 'sweepHits' buffer
\param[out] sweepHits Sweep hits information, bounds indices
\return Number of hits
*/
virtual PxU32 sweep(const PxBounds3& aabb,
const PxVec3& unitDir,
PxReal maxDist,
PxU32 maxHits,
PxU32* PX_RESTRICT sweepHits) const = 0;
/**
\brief AABB overlap test against a BVH structure.
\param[in] aabb The axis aligned bounding box
\param[in] maxHits Max number of returned hits = size of 'overlapHits' buffer
\param[out] overlapHits Overlap hits information, bounds indices
\return Number of hits
*/
virtual PxU32 overlap(const PxBounds3& aabb,
PxU32 maxHits,
PxU32* PX_RESTRICT overlapHits) const = 0;
/**
\brief Retrieve the bounds in the BVH.
@see PxBounds3
*/
virtual const PxBounds3* getBounds() const = 0;
/**
\brief Returns the number of bounds in the BVH.
You can use #getBounds() to retrieve the bounds.
\return Number of bounds in the BVH.
*/
virtual PxU32 getNbBounds() const = 0;
virtual const char* getConcreteTypeName() const { return "PxBVHStructure"; }
protected:
PX_INLINE PxBVHStructure(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
PX_INLINE PxBVHStructure(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
virtual ~PxBVHStructure() {}
virtual bool isKindOf(const char* name) const { return !::strcmp("PxBVHStructure", name) || PxBase::isKindOf(name); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif