215 lines
9.2 KiB
C++
215 lines
9.2 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 BP_BROADPHASE_H
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#define BP_BROADPHASE_H
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#include "foundation/PxUserAllocated.h"
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#include "PxBroadPhase.h"
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#include "BpBroadPhaseUpdate.h"
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namespace physx
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{
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class PxcScratchAllocator;
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class PxBaseTask;
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namespace Bp
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{
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class BroadPhaseUpdateData;
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/**
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\brief Base broad phase class. Functions only relevant to MBP.
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*/
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class BroadPhaseBase : public PxBroadPhaseRegions, public PxUserAllocated
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{
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public:
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BroadPhaseBase() {}
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virtual ~BroadPhaseBase() {}
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/**
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\brief Gets broad-phase caps.
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\param caps [out] Broad-phase caps
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*/
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virtual void getCaps(PxBroadPhaseCaps& caps) const
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{
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caps.mMaxNbRegions = 0;
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}
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// PxBroadPhaseRegions
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virtual PxU32 getNbRegions() const PX_OVERRIDE { return 0; }
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virtual PxU32 getRegions(PxBroadPhaseRegionInfo*, PxU32, PxU32) const PX_OVERRIDE { return 0; }
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virtual PxU32 addRegion(const PxBroadPhaseRegion&, bool, const PxBounds3*, const PxReal*) PX_OVERRIDE { return 0xffffffff;}
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virtual bool removeRegion(PxU32) PX_OVERRIDE { return false; }
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virtual PxU32 getNbOutOfBoundsObjects() const PX_OVERRIDE { return 0; }
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virtual const PxU32* getOutOfBoundsObjects() const PX_OVERRIDE { return NULL; }
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//~PxBroadPhaseRegions
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};
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/*
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\brief Structure used to report created and deleted broadphase pairs
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\note The indices mVolA and mVolB correspond to the bounds indices
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BroadPhaseUpdateData::mCreated used by BroadPhase::update
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\see BroadPhase::getCreatedPairs, BroadPhase::getDeletedPairs
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*/
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struct BroadPhasePair
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{
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BroadPhasePair(ShapeHandle volA, ShapeHandle volB) :
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mVolA (PxMin(volA, volB)),
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mVolB (PxMax(volA, volB))
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{
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}
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BroadPhasePair() :
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mVolA (BP_INVALID_BP_HANDLE),
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mVolB (BP_INVALID_BP_HANDLE)
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{
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}
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ShapeHandle mVolA; // NB: mVolA < mVolB
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ShapeHandle mVolB;
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};
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class BroadPhase : public BroadPhaseBase
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{
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public:
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/**
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\brief Instantiate a BroadPhase instance.
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\param[in] bpType - the bp type (either mbp or sap). This is typically specified in PxSceneDesc.
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\param[in] maxNbRegions is the expected maximum number of broad-phase regions.
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\param[in] maxNbBroadPhaseOverlaps is the expected maximum number of broad-phase overlaps.
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\param[in] maxNbStaticShapes is the expected maximum number of static shapes.
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\param[in] maxNbDynamicShapes is the expected maximum number of dynamic shapes.
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\param[in] contextID is the context ID parameter sent to the profiler
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\return The instantiated BroadPhase.
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\note maxNbRegions is only used if mbp is the chosen broadphase (PxBroadPhaseType::eMBP)
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\note maxNbRegions, maxNbBroadPhaseOverlaps, maxNbStaticShapes and maxNbDynamicShapes are typically specified in PxSceneLimits
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*/
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static BroadPhase* create(
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const PxBroadPhaseType::Enum bpType,
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const PxU32 maxNbRegions,
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const PxU32 maxNbBroadPhaseOverlaps,
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const PxU32 maxNbStaticShapes,
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const PxU32 maxNbDynamicShapes,
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PxU64 contextID);
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virtual PxBroadPhaseType::Enum getType() const = 0;
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/**
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\brief Shutdown of the broadphase.
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*/
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virtual void release() = 0;
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/**
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\brief Updates the broadphase and computes the lists of created/deleted pairs.
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\param[in] scratchAllocator - a PxcScratchAllocator instance used for temporary memory allocations.
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This must be non-null.
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\param[in] updateData a description of changes to the collection of aabbs since the last broadphase update.
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The changes detail the indices of the bounds that have been added/updated/removed as well as an array of all
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bound coordinates and an array of group ids used to filter pairs with the same id.
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\see BroadPhaseUpdateData
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\param[in] continuation the task that is in the queue to be executed immediately after the broadphase has completed its update. NULL is not supported.
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\note In PX_CHECKED and PX_DEBUG build configurations illegal input data (that does not conform to the BroadPhaseUpdateData specifications) triggers
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a special code-path that entirely bypasses the broadphase and issues a warning message to the error stream. No guarantees can be made about the
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correctness/consistency of broadphase behavior with illegal input data in PX_RELEASE and PX_PROFILE configs because validity checks are not active
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in these builds.
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*/
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virtual void update(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation) = 0;
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/**
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\brief prepare broad phase data.
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*/
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virtual void preBroadPhase(const Bp::BroadPhaseUpdateData& updateData) = 0;
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/**
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\brief Fetch the results of any asynchronous broad phase work.
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*/
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virtual void fetchBroadPhaseResults() = 0;
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/*
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\brief Get created pairs.
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Note that each overlap pair is reported only on the frame when the overlap first occurs. The overlap persists
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until the pair appears in the list of deleted pairs or either of the bounds in the pair is removed from the broadphase.
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A created overlap must involve at least one of the bounds of the overlap pair appearing in either the created or updated list.
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It is impossible for the same pair to appear simultaneously in the list of created and deleted overlap pairs.
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An overlap is defined as a pair of bounds that overlap on all three axes; that is when maxA > minB and maxB > minA for all three axes.
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\param nbCreatedPairs [out] The number of created aabb overlap pairs computed in the execution of update() that has just completed.
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\return The array of created aabb overlap pairs computed in the execution of update() that has just completed.
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*/
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virtual const BroadPhasePair* getCreatedPairs(PxU32& nbCreatedPairs) const = 0;
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/**
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\brief Get deleted pairs.
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Note that a deleted pair can only be reported if that pair has already appeared in the list of created pairs in an earlier update.
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A lost overlap occurs when a pair of bounds previously overlapped on all three axes but have now separated on at least one axis.
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A lost overlap must involve at least one of the bounds of the lost overlap pair appearing in the updated list.
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Lost overlaps arising from removal of bounds from the broadphase do not appear in the list of deleted pairs.
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It is impossible for the same pair to appear simultaneously in the list of created and deleted pairs.
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\param nbDeletedPairs [out] The number of deleted overlap pairs computed in the execution of update() that has just completed.
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\return The array of deleted overlap pairs computed in the execution of update() that has just completed.
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*/
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virtual const BroadPhasePair* getDeletedPairs(PxU32& nbDeletedPairs) const = 0;
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/**
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\brief After the broadphase has completed its update() function and the created/deleted pairs have been queried
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with getCreatedPairs/getDeletedPairs it is desirable to free any memory that was temporarily acquired for the update but is
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is no longer required post-update. This can be achieved with the function freeBuffers().
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*/
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virtual void freeBuffers() = 0;
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/**
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\brief Adjust internal structures after all bounds have been adjusted due to a scene origin shift.
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*/
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virtual void shiftOrigin(const PxVec3& shift, const PxBounds3* boundsArray, const PxReal* contactDistances) = 0;
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#if PX_CHECKED
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/**
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\brief Test that the created/updated/removed lists obey the rules that
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1. object ids can only feature in the created list if they have never been previously added or if they were previously removed.
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2. object ids can only be added to the updated list if they have been previously added without being removed.
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3. objects ids can only be added to the removed list if they have been previously added without being removed.
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*/
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virtual bool isValid(const BroadPhaseUpdateData& updateData) const = 0;
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#endif
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};
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} //namespace Bp
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} //namespace physx
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#endif //BP_BROADPHASE_H
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