109 lines
4.6 KiB
C++
109 lines
4.6 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 VOXEL_MAP_H
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#define VOXEL_MAP_H
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#include "PxPhysicsAPI.h"
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/*
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VoxelMap inherits physx::PxCustomGeometry::Callbacks interface and provides
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implementations for 5 callback functions:
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- getLocalBounds
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- generateContacts
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- raycast
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- overlap
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- sweep
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It should be passed to PxCustomGeometry constructor.
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*/
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struct VoxelMap : physx::PxCustomGeometry::Callbacks, physx::PxUserAllocated
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{
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void setDimensions(int x, int y, int z);
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int dimX() const;
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int dimY() const;
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int dimZ() const;
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void setVoxelSize(float x, float y, float z);
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const physx::PxVec3& voxelSize() const;
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float voxelSizeX() const;
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float voxelSizeY() const;
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float voxelSizeZ() const;
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physx::PxVec3 extents() const;
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void setVoxel(int x, int y, int z, bool yes = true);
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bool voxel(int x, int y, int z) const;
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void clearVoxels();
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void setFloorVoxels(int layers);
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void setWaveVoxels();
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void voxelize(const physx::PxGeometry& geom, const physx::PxTransform& pose, bool add = true);
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physx::PxVec3 voxelPos(int x, int y, int z) const;
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void pointCoords(const physx::PxVec3& p, int& x, int& y, int& z) const;
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void getVoxelRegion(const physx::PxBounds3& b, int& sx, int& sy, int& sz, int& ex, int& ey, int& ez) const;
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// physx::PxCustomGeometry::Callbacks overrides
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DECLARE_CUSTOM_GEOMETRY_TYPE
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virtual physx::PxBounds3 getLocalBounds(const physx::PxGeometry&) const;
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virtual bool generateContacts(const physx::PxGeometry& geom0, const physx::PxGeometry& geom1, const physx::PxTransform& pose0, const physx::PxTransform& pose1,
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const physx::PxReal contactDistance, const physx::PxReal meshContactMargin, const physx::PxReal toleranceLength,
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physx::PxContactBuffer& contactBuffer) const;
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virtual physx::PxU32 raycast(const physx::PxVec3& origin, const physx::PxVec3& unitDir, const physx::PxGeometry& geom, const physx::PxTransform& pose,
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physx::PxReal maxDist, physx::PxHitFlags hitFlags, physx::PxU32 maxHits, physx::PxGeomRaycastHit* rayHits, physx::PxU32 stride, physx::PxRaycastThreadContext*) const;
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virtual bool overlap(const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1, physx::PxOverlapThreadContext*) const;
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virtual bool sweep(const physx::PxVec3& unitDir, const physx::PxReal maxDist,
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const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1,
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physx::PxGeomSweepHit& sweepHit, physx::PxHitFlags hitFlags, const physx::PxReal inflation, physx::PxSweepThreadContext*) const;
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virtual void visualize(const physx::PxGeometry&, physx::PxRenderOutput&, const physx::PxTransform&, const physx::PxBounds3&) const;
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virtual void computeMassProperties(const physx::PxGeometry&, physx::PxMassProperties&) const {}
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virtual bool usePersistentContactManifold(const physx::PxGeometry&, physx::PxReal&) const { return true; }
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private:
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int pacsX() const;
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int pacsY() const;
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int pacsZ() const;
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int m_dimensions[3];
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physx::PxVec3 m_voxelSize;
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physx::PxArray<physx::PxU64> m_packs;
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};
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#endif
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