feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/GuBVH.h
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engine/third_party/physx/source/geomutils/src/GuBVH.h
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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_BVH_H
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#define GU_BVH_H
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#include "geometry/PxBVH.h"
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#include "CmRefCountable.h"
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#include "foundation/PxVecMath.h"
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#include "foundation/PxUserAllocated.h"
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#include "GuAABBTreeBounds.h"
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#include "GuAABBTree.h"
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namespace physx
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{
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struct PxBVHInternalData;
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class PxInputStream;
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namespace Gu
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{
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class MeshFactory;
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struct BVHNode;
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class ShapeData;
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class BVHData : public BVHPartialRefitData
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{
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public:
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BVHData() {}
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BVHData(BVHData& other)
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{
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mNbIndices = other.mNbIndices;
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mNbNodes = other.mNbNodes;
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mIndices = other.mIndices;
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mNodes = other.mNodes;
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mBounds.moveFrom(other.mBounds);
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other.mIndices = NULL;
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other.mNodes = NULL;
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}
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~BVHData()
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{
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if(mBounds.ownsMemory())
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{
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mBounds.release();
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PX_FREE(mIndices);
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PX_FREE(mNodes); // PT: TODO: fix this, unify with AABBTree version
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}
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mNbNodes = 0;
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mNbIndices = 0;
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}
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PX_PHYSX_COMMON_API bool build(PxU32 nbBounds, const void* boundsData, PxU32 boundsStride, float enlargement, PxU32 numPrimsPerLeaf, BVHBuildStrategy bs);
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PX_PHYSX_COMMON_API bool save(PxOutputStream& stream, bool endian) const;
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AABBTreeBounds mBounds;
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};
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/**
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\brief Represents a BVH.
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*/
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class BVH : public PxBVH, public PxUserAllocated, public Cm::RefCountable
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{
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public:
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// PT: TODO: revisit these PX_PHYSX_COMMON_API calls. At the end of the day the issue is that things like PxUserAllocated aren't exported.
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PX_PHYSX_COMMON_API BVH(MeshFactory* factory);
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PX_PHYSX_COMMON_API BVH(MeshFactory* factory, BVHData& data);
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PX_PHYSX_COMMON_API BVH(const PxBVHInternalData& data);
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virtual ~BVH();
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PX_PHYSX_COMMON_API bool init(PxU32 nbPrims, AABBTreeBounds* bounds, const void* boundsData, PxU32 stride, BVHBuildStrategy bs, PxU32 nbPrimsPerLeaf, float enlargement);
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bool load(PxInputStream& desc);
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void release();
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// PxBVH
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virtual bool raycast(const PxVec3& origin, const PxVec3& unitDir, float distance, RaycastCallback& cb, PxGeometryQueryFlags flags) const PX_OVERRIDE;
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virtual bool overlap(const PxGeometry& geom, const PxTransform& pose, OverlapCallback& cb, PxGeometryQueryFlags flags) const PX_OVERRIDE;
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virtual bool sweep(const PxGeometry& geom, const PxTransform& pose, const PxVec3& unitDir, float distance, RaycastCallback& cb, PxGeometryQueryFlags flags) const PX_OVERRIDE;
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virtual bool cull(PxU32 nbPlanes, const PxPlane* planes, OverlapCallback& cb, PxGeometryQueryFlags flags) const PX_OVERRIDE;
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virtual PxU32 getNbBounds() const PX_OVERRIDE { return mData.mNbIndices; }
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virtual const PxBounds3* getBounds() const PX_OVERRIDE { return mData.mBounds.getBounds(); }
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virtual void refit() PX_OVERRIDE;
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virtual bool updateBounds(PxU32 boundsIndex, const PxBounds3& newBounds) PX_OVERRIDE;
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virtual void partialRefit() PX_OVERRIDE;
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virtual bool traverse(TraversalCallback& cb) const PX_OVERRIDE;
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//~PxBVH
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// Cm::RefCountable
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virtual void onRefCountZero() PX_OVERRIDE;
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//~Cm::RefCountable
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PX_FORCE_INLINE const BVHNode* getNodes() const { return mData.mNodes; }
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PX_FORCE_INLINE const PxU32* getIndices() const { return mData.mIndices; }
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PX_FORCE_INLINE const BVHData& getData() const { return mData; }
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bool getInternalData(PxBVHInternalData&, bool) const;
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bool updateBoundsInternal(PxU32 localIndex, const PxBounds3& bounds);
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// PT: alternative implementations directly working on shape data
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bool overlap(const ShapeData& shapeData, OverlapCallback& cb, PxGeometryQueryFlags flags) const;
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bool sweep(const ShapeData& shapeData, const PxVec3& unitDir, float distance, RaycastCallback& cb, PxGeometryQueryFlags flags) const;
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private:
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MeshFactory* mMeshFactory;
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BVHData mData;
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};
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}
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}
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#endif
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