Revision control
- // Redistribution and use in source and binary forms, with or without
- // modification, are permitted provided that the following conditions
- // are met:
- // * Redistributions of source code must retain the above copyright
- // notice, this list of conditions and the following disclaimer.
- // * Redistributions in binary form must reproduce the above copyright
- // notice, this list of conditions and the following disclaimer in the
- // documentation and/or other materials provided with the distribution.
- // * Neither the name of NVIDIA CORPORATION nor the names of its
- // contributors may be used to endorse or promote products derived
- // from this software without specific prior written permission.
- //
- // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
- // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
- // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
- // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
- // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- //
- // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef PX_CONTROLLER_OBSTACLES_H
#define PX_CONTROLLER_OBSTACLES_H
#include "characterkinematic/PxExtended.h"
#include "geometry/PxGeometry.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxControllerManager;
#define PX_INVALID_OBSTACLE_HANDLE 0xffffffff
/**
\brief Base class for obstacles.
\see PxBoxObstacle PxCapsuleObstacle PxObstacleContext
*/
class PxObstacle
{
protected:
PxObstacle() :
mType (PxGeometryType::eINVALID),
mUserData (NULL),
mPos (0.0, 0.0, 0.0),
mRot (PxQuat(PxIdentity))
{}
PxGeometryType::Enum mType;
public:
PX_FORCE_INLINE PxGeometryType::Enum getType() const { return mType; }
void* mUserData;
PxExtendedVec3 mPos;
PxQuat mRot;
};
/**
\brief A box obstacle.
\see PxObstacle PxCapsuleObstacle PxObstacleContext
*/
class PxBoxObstacle : public PxObstacle
{
public:
PxBoxObstacle() :
mHalfExtents(0.0f)
{ mType = PxGeometryType::eBOX; }
PxVec3 mHalfExtents;
};
/**
\brief A capsule obstacle.
\see PxBoxObstacle PxObstacle PxObstacleContext
*/
class PxCapsuleObstacle : public PxObstacle
{
public:
PxCapsuleObstacle() :
mHalfHeight (0.0f),
mRadius (0.0f)
{ mType = PxGeometryType::eCAPSULE; }
PxReal mHalfHeight;
PxReal mRadius;
};
typedef PxU32 PxObstacleHandle;
/**
\brief Context class for obstacles.
An obstacle context class contains and manages a set of user-defined obstacles.
\see PxBoxObstacle PxCapsuleObstacle PxObstacle
*/
class PxObstacleContext
{
public:
PxObstacleContext() {}
virtual ~PxObstacleContext() {}
/**
\brief Releases the context.
*/
virtual void release() = 0;
/**
\brief Retrieves the controller manager associated with this context.
\return The associated controller manager
*/
virtual PxControllerManager& getControllerManager() const = 0;
/**
\brief Adds an obstacle to the context.
\param [in] obstacle Obstacle data for the new obstacle. The data gets copied.
\return Handle for newly-added obstacle
*/
virtual PxObstacleHandle addObstacle(const PxObstacle& obstacle) = 0;
/**
\brief Removes an obstacle from the context.
\param [in] handle Handle for the obstacle object that needs to be removed.
\return True if success
*/
virtual bool removeObstacle(PxObstacleHandle handle) = 0;
/**
\brief Updates data for an existing obstacle.
\param [in] handle Handle for the obstacle object that needs to be updated.
\param [in] obstacle New obstacle data
\return True if success
*/
virtual bool updateObstacle(PxObstacleHandle handle, const PxObstacle& obstacle) = 0;
/**
\brief Retrieves number of obstacles in the context.
\return Number of obstacles in the context
*/
virtual PxU32 getNbObstacles() const = 0;
/**
\brief Retrieves desired obstacle.
\param [in] i Obstacle index
\return Desired obstacle
*/
virtual const PxObstacle* getObstacle(PxU32 i) const = 0;
/**
\brief Retrieves desired obstacle by given handle.
\param [in] handle Obstacle handle
\return Desired obstacle
*/
virtual const PxObstacle* getObstacleByHandle(PxObstacleHandle handle) const = 0;
};
#if !PX_DOXYGEN
}
#endif
#endif