154 lines
7.6 KiB
C++
154 lines
7.6 KiB
C++
// 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_SWEEP_TESTS_H
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#define GU_SWEEP_TESTS_H
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#include "foundation/PxTransform.h"
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#include "geometry/PxGeometry.h"
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#include "geometry/PxGeometryHit.h"
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#include "geometry/PxGeometryQueryContext.h"
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namespace physx
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{
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class PxConvexCoreGeometry;
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class PxConvexMeshGeometry;
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class PxCapsuleGeometry;
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class PxTriangle;
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class PxBoxGeometry;
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#define UNUSED_SWEEP_THREAD_CONTEXT NULL
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// PT: TODO: unify this with raycast calls (names and order of params)
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// PT: we use defines to be able to quickly change the signature of all sweep functions.
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// (this also ensures they all use consistent names for passed parameters).
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// \param[in] geom geometry object to sweep against
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// \param[in] pose pose of geometry object
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// \param[in] unitDir sweep's unit dir
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// \param[in] distance sweep's length/max distance
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// \param[out] sweepHit hit result
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// \param[in] hitFlags query behavior flags
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// \param[in] inflation optional inflation value for swept shape
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// \param[in] threadContext optional per-thread context
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// PT: sweep parameters for capsule
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#define GU_CAPSULE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
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const PxCapsuleGeometry& capsuleGeom_, const PxTransform& capsulePose_, const Gu::Capsule& lss, \
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const PxVec3& unitDir, PxReal distance, \
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PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
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// PT: sweep parameters for box
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#define GU_BOX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
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const PxBoxGeometry& boxGeom_, const PxTransform& boxPose_, const Gu::Box& box, \
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const PxVec3& unitDir, PxReal distance, \
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PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
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// VR: sweep parameters for convex core
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#define GU_CONVEXCORE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
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const PxConvexCoreGeometry& convexGeom, const PxTransform& convexPose, \
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const PxVec3& unitDir, PxReal distance, \
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PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
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// PT: sweep parameters for convex mesh
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#define GU_CONVEX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
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const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, \
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const PxVec3& unitDir, PxReal distance, \
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PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
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namespace Gu
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{
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class Capsule;
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class Box;
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// PT: function pointer for Geom-indexed capsule sweep functions
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// See GU_CAPSULE_SWEEP_FUNC_PARAMS for function parameters details.
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// \return true if a hit was found, false otherwise
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typedef bool (*SweepCapsuleFunc) (GU_CAPSULE_SWEEP_FUNC_PARAMS);
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// PT: function pointer for Geom-indexed box sweep functions
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// See GU_BOX_SWEEP_FUNC_PARAMS for function parameters details.
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// \return true if a hit was found, false otherwise
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typedef bool (*SweepBoxFunc) (GU_BOX_SWEEP_FUNC_PARAMS);
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// function pointer for Geom-indexed convex core sweep functions
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// See GU_CONVEXCORE_SWEEP_FUNC_PARAMS for function parameters details.
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// \return true if a hit was found, false otherwise
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typedef bool (*SweepConvexCoreFunc) (GU_CONVEXCORE_SWEEP_FUNC_PARAMS);
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// PT: function pointer for Geom-indexed convex mesh sweep functions
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// See GU_CONVEX_SWEEP_FUNC_PARAMS for function parameters details.
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// \return true if a hit was found, false otherwise
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typedef bool (*SweepConvexFunc) (GU_CONVEX_SWEEP_FUNC_PARAMS);
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// PT: typedef for bundles of all sweep functions, i.e. the function tables themselves (indexed by geom-type).
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typedef SweepCapsuleFunc GeomSweepCapsuleTable [PxGeometryType::eGEOMETRY_COUNT];
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typedef SweepBoxFunc GeomSweepBoxTable [PxGeometryType::eGEOMETRY_COUNT];
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typedef SweepConvexCoreFunc GeomSweepConvexCoreTable[PxGeometryType::eGEOMETRY_COUNT];
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typedef SweepConvexFunc GeomSweepConvexTable [PxGeometryType::eGEOMETRY_COUNT];
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struct GeomSweepFuncs
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{
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GeomSweepCapsuleTable capsuleMap;
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GeomSweepCapsuleTable preciseCapsuleMap;
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GeomSweepBoxTable boxMap;
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GeomSweepBoxTable preciseBoxMap;
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GeomSweepConvexCoreTable convexCoreMap;
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GeomSweepConvexTable convexMap;
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};
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// PT: grabs all sweep function tables at once (for access by external non-Gu modules)
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PX_PHYSX_COMMON_API const GeomSweepFuncs& getSweepFuncTable();
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// PT: signature for sweep-vs-triangles functions.
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// We use defines to be able to quickly change the signature of all sweep functions.
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// (this also ensures they all use consistent names for passed parameters).
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// \param[in] nbTris number of triangles in input array
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// \param[in] triangles array of triangles to sweep the shape against
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// \param[in] doubleSided true if input triangles are double-sided
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// \param[in] x geom to sweep against input triangles
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// \param[in] pose pose of geom x
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// \param[in] unitDir sweep's unit dir
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// \param[in] distance sweep's length/max distance
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// \param[out] hit hit result
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// \param[in] cachedIndex optional initial triangle index (must be <nbTris)
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// \param[in] inflation optional inflation value for swept shape
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// \param[in] hitFlags query behavior flags
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#define GU_SWEEP_TRIANGLES_FUNC_PARAMS(x) PxU32 nbTris, const PxTriangle* triangles, bool doubleSided, \
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const x& geom, const PxTransform& pose, \
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const PxVec3& unitDir, PxReal distance, \
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PxGeomSweepHit& hit, const PxU32* cachedIndex, \
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PxReal inflation, PxHitFlags hitFlags
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bool sweepCapsuleTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxCapsuleGeometry));
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bool sweepBoxTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
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bool sweepBoxTriangles_Precise (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
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} // namespace Gu
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}
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#endif
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