464 lines
18 KiB
C
464 lines
18 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) 2008-2025 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 GU_QUERY_SYSTEM_H
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#define GU_QUERY_SYSTEM_H
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#include "foundation/PxUserAllocated.h"
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#include "foundation/PxBitMap.h"
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#include "foundation/PxArray.h"
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#include "foundation/PxMutex.h"
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#include "foundation/PxBounds3.h"
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#include "GuPruner.h"
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#include "GuActorShapeMap.h"
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namespace physx
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{
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class PxGeometry;
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namespace Gu
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{
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class BVH;
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class Adapter
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{
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public:
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Adapter() {}
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virtual ~Adapter() {}
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virtual const PxGeometry& getGeometry(const PrunerPayload& payload) const = 0;
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};
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class PrunerFilter
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{
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public:
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PrunerFilter() {}
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virtual ~PrunerFilter() {}
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virtual bool processPruner(PxU32 prunerIndex/*, const PxQueryThreadContext* context*/) const = 0;
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};
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typedef PxU32 PrunerInfo;
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PX_FORCE_INLINE PrunerInfo createPrunerInfo(PxU32 prunerIndex, bool isDynamic) { return (prunerIndex << 1) | PxU32(isDynamic); }
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PX_FORCE_INLINE PxU32 getPrunerIndex(PrunerInfo info) { return PxU32(info)>>1; }
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PX_FORCE_INLINE PxU32 getDynamic(PrunerInfo info) { return PxU32(info) & 1; }
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PX_FORCE_INLINE ActorShapeData createActorShapeData(PrunerInfo info, PrunerHandle h) { return (ActorShapeData(h) << 32) | ActorShapeData(info); }
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PX_FORCE_INLINE PrunerInfo getPrunerInfo(ActorShapeData data) { return PrunerInfo(data); }
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PX_FORCE_INLINE PrunerHandle getPrunerHandle(ActorShapeData data) { return PrunerHandle(data >> 32); }
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#define INVALID_ACTOR_SHAPE_DATA PxU64(-1)
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class QuerySystem : public PxUserAllocated
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{
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public: // PT: TODO: public only to implement checkPrunerIndex easily, revisit this
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struct PrunerExt : public PxUserAllocated
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{
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PrunerExt(Pruner* pruner, PxU32 preallocated);
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~PrunerExt();
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void flushMemory();
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void addToDirtyList(PrunerHandle handle, PxU32 dynamic, const PxTransform& transform, const PxBounds3* userBounds=NULL);
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void removeFromDirtyList(PrunerHandle handle);
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bool processDirtyList(const Adapter& adapter, float inflation);
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Pruner* mPruner;
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PxBitMap mDirtyMap;
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PxArray<PrunerHandle> mDirtyList;
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PxU32 mNbStatic; // nb static objects in pruner
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PxU32 mNbDynamic; // nb dynamic objects in pruner
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bool mDirtyStatic; // true if dirty list contains a static
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struct Data
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{
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PxTransform mPose;
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PxBounds3 mBounds;
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};
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PxArray<Data> mDirtyData;
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PX_NOCOPY(PrunerExt)
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};
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public:
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PX_PHYSX_COMMON_API QuerySystem(PxU64 contextID, float inflation, const Adapter& adapter, bool usesTreeOfPruners=false);
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PX_PHYSX_COMMON_API ~QuerySystem();
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PX_FORCE_INLINE PxU64 getContextId() const { return mContextID; }
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PX_FORCE_INLINE const Adapter& getAdapter() const { return mAdapter; }
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PX_FORCE_INLINE PxU32 getStaticTimestamp() const { return mStaticTimestamp; }
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PX_PHYSX_COMMON_API PxU32 addPruner(Pruner* pruner, PxU32 preallocated);
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PX_PHYSX_COMMON_API void removePruner(PxU32 prunerIndex);
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PX_FORCE_INLINE PxU32 getNbPruners() const { return mPrunerExt.size(); }
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PX_FORCE_INLINE const Pruner* getPruner(PxU32 index) const { return mPrunerExt[index]->mPruner; }
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PX_FORCE_INLINE Pruner* getPruner(PxU32 index) { return mPrunerExt[index]->mPruner; }
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PX_PHYSX_COMMON_API ActorShapeData addPrunerShape(const PrunerPayload& payload, PxU32 prunerIndex, bool dynamic, const PxTransform& transform, const PxBounds3* userBounds=NULL);
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PX_PHYSX_COMMON_API void removePrunerShape(ActorShapeData data, PrunerPayloadRemovalCallback* removalCallback);
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PX_PHYSX_COMMON_API void updatePrunerShape(ActorShapeData data, bool immediately, const PxTransform& transform, const PxBounds3* userBounds=NULL);
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PX_PHYSX_COMMON_API const PrunerPayload& getPayloadData(ActorShapeData data, PrunerPayloadData* ppd=NULL) const;
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PX_PHYSX_COMMON_API void commitUpdates();
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PX_PHYSX_COMMON_API void update(bool buildStep, bool commit);
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PX_PHYSX_COMMON_API void sync(PxU32 prunerIndex, const PrunerHandle* handles, const PxU32* boundsIndices, const PxBounds3* bounds, const PxTransform32* transforms, PxU32 count);
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PX_PHYSX_COMMON_API void flushMemory();
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PX_PHYSX_COMMON_API void raycast(const PxVec3& origin, const PxVec3& unitDir, float& inOutDistance, PrunerRaycastCallback& cb, const PrunerFilter* prunerFilter) const;
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PX_PHYSX_COMMON_API void overlap(const ShapeData& queryVolume, PrunerOverlapCallback& cb, const PrunerFilter* prunerFilter) const;
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PX_PHYSX_COMMON_API void sweep(const ShapeData& queryVolume, const PxVec3& unitDir, float& inOutDistance, PrunerRaycastCallback& cb, const PrunerFilter* prunerFilter) const;
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PxU32 startCustomBuildstep();
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void customBuildstep(PxU32 index);
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void finishCustomBuildstep();
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void createTreeOfPruners();
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private:
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const Adapter& mAdapter;
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PxArray<PrunerExt*> mPrunerExt;
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PxArray<PxU32> mDirtyPruners;
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PxArray<PxU32> mFreePruners;
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Gu::BVH* mTreeOfPruners;
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const PxU64 mContextID;
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PxU32 mStaticTimestamp;
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const float mInflation; // SQ_PRUNER_EPSILON
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PxMutex mSQLock; // to make sure only one query updates the dirty pruner structure if multiple queries run in parallel
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volatile bool mPrunerNeedsUpdating;
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volatile bool mTimestampNeedsUpdating;
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const bool mUsesTreeOfPruners;
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void processDirtyLists();
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PX_FORCE_INLINE void invalidateStaticTimestamp() { mStaticTimestamp++; }
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PX_NOCOPY(QuerySystem)
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};
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}
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}
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#include "geometry/PxGeometryHit.h"
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#include "geometry/PxSphereGeometry.h"
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#include "geometry/PxCapsuleGeometry.h"
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#include "geometry/PxBoxGeometry.h"
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#include "geometry/PxConvexMeshGeometry.h"
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#include "GuCachedFuncs.h"
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#include "GuCapsule.h"
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#include "GuBounds.h"
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#if PX_VC
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#pragma warning(disable: 4355 ) // "this" used in base member initializer list
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#endif
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namespace physx
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{
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namespace Gu
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{
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// PT: TODO: use templates instead of v-calls?
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// PT: we decouple the filter callback from the rest, so that the same filter callback can easily be reused for all pruner queries.
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// This combines the pre-filter callback and fetching the payload's geometry in a single call. Return null to ignore that object.
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struct PrunerFilterCallback
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{
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virtual ~PrunerFilterCallback() {}
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// Query's hit flags can be tweaked per object. (Note that 'hitFlags' is unused for overlaps though)
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virtual const PxGeometry* validatePayload(const PrunerPayload& payload, PxHitFlags& hitFlags) = 0;
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};
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struct DefaultPrunerRaycastCallback : public PrunerRaycastCallback, public PxRaycastThreadContext
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{
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PxRaycastThreadContext* mContext;
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PrunerFilterCallback& mFilterCB;
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const GeomRaycastTable& mCachedRaycastFuncs;
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const PxVec3& mOrigin;
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const PxVec3& mDir;
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PxGeomRaycastHit* mLocalHits;
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const PxU32 mMaxLocalHits;
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const PxHitFlags mHitFlags;
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PxGeomRaycastHit mClosestHit;
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PrunerPayload mClosestPayload;
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bool mFoundHit;
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const bool mAnyHit;
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DefaultPrunerRaycastCallback(PrunerFilterCallback& filterCB, const GeomRaycastTable& funcs, const PxVec3& origin, const PxVec3& dir, float distance, PxU32 maxLocalHits, PxGeomRaycastHit* localHits, PxHitFlags hitFlags, bool anyHit, PxRaycastThreadContext* context=NULL) :
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mContext (context ? context : this),
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mFilterCB (filterCB),
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mCachedRaycastFuncs (funcs),
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mOrigin (origin),
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mDir (dir),
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mLocalHits (localHits),
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mMaxLocalHits (maxLocalHits),
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mHitFlags (hitFlags),
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mFoundHit (false),
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mAnyHit (anyHit)
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{
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mClosestHit.distance = distance;
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}
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virtual bool reportHits(const PrunerPayload& /*payload*/, PxU32 /*nbHits*/, PxGeomRaycastHit* /*hits*/)
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{
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return true;
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}
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virtual bool invoke(PxReal& aDist, PxU32 primIndex, const PrunerPayload* payloads, const PxTransform* transforms) PX_OVERRIDE PX_FINAL
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{
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PX_ASSERT(payloads && transforms);
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const PrunerPayload& payload = payloads[primIndex];
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PxHitFlags filteredHitFlags = mHitFlags;
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const PxGeometry* shapeGeom = mFilterCB.validatePayload(payload, filteredHitFlags);
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if(!shapeGeom)
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return true;
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const RaycastFunc func = mCachedRaycastFuncs[shapeGeom->getType()];
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const PxU32 nbHits = func(*shapeGeom, transforms[primIndex], mOrigin, mDir, aDist, filteredHitFlags, mMaxLocalHits, mLocalHits, sizeof(PxGeomRaycastHit), mContext);
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if(!nbHits || !reportHits(payload, nbHits, mLocalHits))
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return true;
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const PxGeomRaycastHit& localHit = mLocalHits[0];
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if(localHit.distance < mClosestHit.distance)
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{
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mFoundHit = true;
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if(mAnyHit)
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return false;
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aDist = localHit.distance;
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mClosestHit = localHit;
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mClosestPayload = payload;
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}
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return true;
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}
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PX_NOCOPY(DefaultPrunerRaycastCallback)
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};
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struct DefaultPrunerRaycastAnyCallback : public DefaultPrunerRaycastCallback
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{
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PxGeomRaycastHit mLocalHit;
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DefaultPrunerRaycastAnyCallback(PrunerFilterCallback& filterCB, const GeomRaycastTable& funcs, const PxVec3& origin, const PxVec3& dir, float distance) :
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DefaultPrunerRaycastCallback (filterCB, funcs, origin, dir, distance, 1, &mLocalHit, PxHitFlag::eANY_HIT, true) {}
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};
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struct DefaultPrunerRaycastClosestCallback : public DefaultPrunerRaycastCallback
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{
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PxGeomRaycastHit mLocalHit;
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DefaultPrunerRaycastClosestCallback(PrunerFilterCallback& filterCB, const GeomRaycastTable& funcs, const PxVec3& origin, const PxVec3& dir, float distance, PxHitFlags hitFlags) :
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DefaultPrunerRaycastCallback (filterCB, funcs, origin, dir, distance, 1, &mLocalHit, hitFlags, false) {}
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};
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struct DefaultPrunerOverlapCallback : public PrunerOverlapCallback, public PxOverlapThreadContext
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{
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PxOverlapThreadContext* mContext;
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PrunerFilterCallback& mFilterCB;
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const GeomOverlapTable* mCachedFuncs;
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const PxGeometry& mGeometry;
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const PxTransform& mPose;
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PxHitFlags mUnused;
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DefaultPrunerOverlapCallback(PrunerFilterCallback& filterCB, const GeomOverlapTable* funcs, const PxGeometry& geometry, const PxTransform& pose, PxOverlapThreadContext* context=NULL) :
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mContext (context ? context : this),
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mFilterCB (filterCB),
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mCachedFuncs (funcs),
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mGeometry (geometry),
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mPose (pose)
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{
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}
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virtual bool reportHit(const PrunerPayload& /*payload*/)
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{
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return true;
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}
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virtual bool invoke(PxU32 primIndex, const PrunerPayload* payloads, const PxTransform* transforms) PX_OVERRIDE PX_FINAL
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{
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PX_ASSERT(payloads && transforms);
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const PrunerPayload& payload = payloads[primIndex];
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const PxGeometry* shapeGeom = mFilterCB.validatePayload(payload, mUnused);
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if(!shapeGeom || !Gu::overlap(mGeometry, mPose, *shapeGeom, transforms[primIndex], mCachedFuncs, mContext))
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return true;
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return reportHit(payload);
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}
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PX_NOCOPY(DefaultPrunerOverlapCallback)
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};
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struct BoxShapeCast
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{
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static PX_FORCE_INLINE PxU32 sweep( const GeomSweepFuncs& sf, const PxGeometry& geom, const PxTransform& pose,
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const PxGeometry& queryGeom, const PxTransform& queryPose, const ShapeData& queryVolume,
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const PxVec3& unitDir, PxReal distance, PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* context)
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{
|
||
|
|
PX_ASSERT(queryGeom.getType()==PxGeometryType::eBOX);
|
||
|
|
const bool precise = hitFlags & PxHitFlag::ePRECISE_SWEEP;
|
||
|
|
const SweepBoxFunc func = precise ? sf.preciseBoxMap[geom.getType()] : sf.boxMap[geom.getType()];
|
||
|
|
return PxU32(func(geom, pose, static_cast<const PxBoxGeometry&>(queryGeom), queryPose, queryVolume.getGuBox(), unitDir, distance, sweepHit, hitFlags, inflation, context));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
struct SphereShapeCast
|
||
|
|
{
|
||
|
|
static PX_FORCE_INLINE PxU32 sweep( const GeomSweepFuncs& sf, const PxGeometry& geom, const PxTransform& pose,
|
||
|
|
const PxGeometry& queryGeom, const PxTransform& queryPose, const ShapeData& /*queryVolume*/,
|
||
|
|
const PxVec3& unitDir, PxReal distance, PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* context)
|
||
|
|
{
|
||
|
|
PX_ASSERT(queryGeom.getType()==PxGeometryType::eSPHERE);
|
||
|
|
// PT: we don't use sd.getGuSphere() here because PhysX doesn't expose a set of 'SweepSphereFunc' functions,
|
||
|
|
// we have to go through a capsule (which is then seen as a sphere internally when the half-length is zero).
|
||
|
|
const PxSphereGeometry& sphereGeom = static_cast<const PxSphereGeometry&>(queryGeom);
|
||
|
|
const PxCapsuleGeometry capsuleGeom(sphereGeom.radius, 0.0f);
|
||
|
|
const Capsule worldCapsule(queryPose.p, queryPose.p, sphereGeom.radius); // AP: precompute?
|
||
|
|
const bool precise = hitFlags & PxHitFlag::ePRECISE_SWEEP;
|
||
|
|
const SweepCapsuleFunc func = precise ? sf.preciseCapsuleMap[geom.getType()] : sf.capsuleMap[geom.getType()];
|
||
|
|
return PxU32(func(geom, pose, capsuleGeom, queryPose, worldCapsule, unitDir, distance, sweepHit, hitFlags, inflation, context));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
struct CapsuleShapeCast
|
||
|
|
{
|
||
|
|
static PX_FORCE_INLINE PxU32 sweep( const GeomSweepFuncs& sf, const PxGeometry& geom, const PxTransform& pose,
|
||
|
|
const PxGeometry& queryGeom, const PxTransform& queryPose, const ShapeData& queryVolume,
|
||
|
|
const PxVec3& unitDir, PxReal distance, PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* context)
|
||
|
|
{
|
||
|
|
PX_ASSERT(queryGeom.getType()==PxGeometryType::eCAPSULE);
|
||
|
|
const bool precise = hitFlags & PxHitFlag::ePRECISE_SWEEP;
|
||
|
|
const SweepCapsuleFunc func = precise ? sf.preciseCapsuleMap[geom.getType()] : sf.capsuleMap[geom.getType()];
|
||
|
|
return PxU32(func(geom, pose, static_cast<const PxCapsuleGeometry&>(queryGeom), queryPose, queryVolume.getGuCapsule(), unitDir, distance, sweepHit, hitFlags, inflation, context));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
struct ConvexShapeCast
|
||
|
|
{
|
||
|
|
static PX_FORCE_INLINE PxU32 sweep( const GeomSweepFuncs& sf, const PxGeometry& geom, const PxTransform& pose,
|
||
|
|
const PxGeometry& queryGeom, const PxTransform& queryPose, const ShapeData& /*queryVolume*/,
|
||
|
|
const PxVec3& unitDir, PxReal distance, PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* context)
|
||
|
|
{
|
||
|
|
PX_ASSERT(queryGeom.getType()==PxGeometryType::eCONVEXMESH);
|
||
|
|
const SweepConvexFunc func = sf.convexMap[geom.getType()];
|
||
|
|
return PxU32(func(geom, pose, static_cast<const PxConvexMeshGeometry&>(queryGeom), queryPose, unitDir, distance, sweepHit, hitFlags, inflation, context));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
struct DefaultPrunerSweepCallback : public PrunerRaycastCallback, public PxSweepThreadContext
|
||
|
|
{
|
||
|
|
virtual bool reportHit(const PrunerPayload& /*payload*/, PxGeomSweepHit& /*hit*/)
|
||
|
|
{
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
template<class ShapeCast>
|
||
|
|
struct DefaultPrunerSweepCallbackT : public DefaultPrunerSweepCallback
|
||
|
|
{
|
||
|
|
PxSweepThreadContext* mContext;
|
||
|
|
PrunerFilterCallback& mFilterCB;
|
||
|
|
const GeomSweepFuncs& mCachedFuncs;
|
||
|
|
const PxGeometry& mGeometry;
|
||
|
|
const PxTransform& mPose;
|
||
|
|
const ShapeData& mQueryVolume;
|
||
|
|
const PxVec3& mDir;
|
||
|
|
PxGeomSweepHit mLocalHit;
|
||
|
|
const PxHitFlags mHitFlags;
|
||
|
|
PxGeomSweepHit mClosestHit;
|
||
|
|
PrunerPayload mClosestPayload;
|
||
|
|
bool mFoundHit;
|
||
|
|
const bool mAnyHit;
|
||
|
|
|
||
|
|
DefaultPrunerSweepCallbackT(PrunerFilterCallback& filterCB, const GeomSweepFuncs& funcs,
|
||
|
|
const PxGeometry& geometry, const PxTransform& pose, const ShapeData& queryVolume,
|
||
|
|
const PxVec3& dir, float distance, PxHitFlags hitFlags, bool anyHit, PxSweepThreadContext* context=NULL) :
|
||
|
|
mContext (context ? context : this),
|
||
|
|
mFilterCB (filterCB),
|
||
|
|
mCachedFuncs (funcs),
|
||
|
|
mGeometry (geometry),
|
||
|
|
mPose (pose),
|
||
|
|
mQueryVolume (queryVolume),
|
||
|
|
mDir (dir),
|
||
|
|
mHitFlags (hitFlags),
|
||
|
|
mFoundHit (false),
|
||
|
|
mAnyHit (anyHit)
|
||
|
|
{
|
||
|
|
mClosestHit.distance = distance;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual bool invoke(PxReal& aDist, PxU32 primIndex, const PrunerPayload* payloads, const PxTransform* transforms) PX_OVERRIDE PX_FINAL
|
||
|
|
{
|
||
|
|
PX_ASSERT(payloads && transforms);
|
||
|
|
|
||
|
|
const PrunerPayload& payload = payloads[primIndex];
|
||
|
|
|
||
|
|
PxHitFlags filteredHitFlags = mHitFlags;
|
||
|
|
const PxGeometry* shapeGeom = mFilterCB.validatePayload(payload, filteredHitFlags);
|
||
|
|
if(!shapeGeom)
|
||
|
|
return true;
|
||
|
|
|
||
|
|
// PT: ### TODO: missing bit from PhysX version here
|
||
|
|
|
||
|
|
const float inflation = 0.0f; // ####
|
||
|
|
const PxU32 retVal = ShapeCast::sweep(mCachedFuncs, *shapeGeom, transforms[primIndex], mGeometry, mPose, mQueryVolume, mDir, aDist, mLocalHit, filteredHitFlags, inflation, mContext);
|
||
|
|
|
||
|
|
if(!retVal || !reportHit(payload, mLocalHit))
|
||
|
|
return true;
|
||
|
|
|
||
|
|
if(mLocalHit.distance < mClosestHit.distance)
|
||
|
|
{
|
||
|
|
mFoundHit = true;
|
||
|
|
if(mAnyHit)
|
||
|
|
return false;
|
||
|
|
|
||
|
|
aDist = mLocalHit.distance;
|
||
|
|
mClosestHit = mLocalHit;
|
||
|
|
mClosestPayload = payload;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_NOCOPY(DefaultPrunerSweepCallbackT)
|
||
|
|
};
|
||
|
|
|
||
|
|
typedef DefaultPrunerSweepCallbackT<SphereShapeCast> DefaultPrunerSphereSweepCallback;
|
||
|
|
typedef DefaultPrunerSweepCallbackT<BoxShapeCast> DefaultPrunerBoxSweepCallback;
|
||
|
|
typedef DefaultPrunerSweepCallbackT<CapsuleShapeCast> DefaultPrunerCapsuleSweepCallback;
|
||
|
|
typedef DefaultPrunerSweepCallbackT<ConvexShapeCast> DefaultPrunerConvexSweepCallback;
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|