Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef BP_BROADPHASE_UPDATE_H
++ #define BP_BROADPHASE_UPDATE_H
++
++ #include "BpFiltering.h"
++ #include "foundation/PxBounds3.h"
++ #include "foundation/PxUnionCast.h"
++
++ namespace physx
++ {
++ namespace Bp
++ {
++ typedef PxU32 ShapeHandle;
++ typedef PxU32 BpHandle;
++ #define BP_INVALID_BP_HANDLE 0x3fffffff
++
++ class BroadPhase;
++
++ struct BroadPhaseUpdateError
++ {
++ enum Enum
++ {
++ eNO_ERROR = 0,
++ eINVALID = 1, // generic unspecified error
++ eMISSING_DATA = 2, // passed data has a non-zero size and a null pointer
++ eOUT_OF_BOUNDS = 3, // passed index is out of bounds
++ eINVALID_ORDER = 4, // passed indices are not in ascending order
++ eINVALID_GROUP = 5, // passed groups are invalid
++ eNON_FINITE_BOUNDS = 6, // passed bounds have NaNs/non-finite values
++ eINVALID_BOUNDS = 7, // passed bounds are invalid (non-empty and min>max)
++ eCREATED_AND_UPDATED = 8, // an object has been both created and updated (in the same BP update call)
++ eCREATED_AND_REMOVED = 9, // an object has been both created and removed (in the same BP update call)
++ eUPDATED_AND_REMOVED = 10, // an object has been both updated and removed (in the same BP update call)
++ eALREADY_ADDED = 11, // an object has been added but already exists in the broadphase
++ eALREADY_REMOVED = 12, // an object has been removed but does not exist in the broadphase
++ eNOT_IN_DATABASE = 13, // an object has been updated but does not exist in the broadphase
++ };
++ };
++
++ class BroadPhaseUpdateData
++ {
++ public:
++
++ /**
++ \brief A structure detailing the changes to the collection of aabbs, whose overlaps are computed in the broadphase.
++ The structure consists of per-object arrays of object bounds and object groups, and three arrays that index
++ into the per-object arrays, denoting the bounds which are to be created, updated and removed in the broad phase.
++
++ * each entry in the object arrays represents the same shape or aggregate from frame to frame.
++ * each entry in an index array must be less than the capacity of the per-object arrays.
++ * no index value may appear in more than one index array, and may not occur more than once in that array.
++
++ An index value is said to be "in use" if it has appeared in a created list in a previous update, and has not
++ since occurred in a removed list.
++
++ \param[in] created an array of indices describing the bounds that must be inserted into the broadphase.
++ Each index in the array must not be in use.
++
++ \param[in] updated an array of indices (referencing the boxBounds and boxGroups arrays) describing the bounds
++ that have moved since the last broadphase update. Each index in the array must be in use, and each object
++ whose index is in use and whose AABB has changed must appear in the update list.
++
++ \param[in] removed an array of indices describing the bounds that must be removed from the broad phase. Each index in
++ the array must be in use.
++
++ \param[in] boxBounds an array of bounds coordinates for the AABBs to be processed by the broadphase.
++
++ An entry is valid if its values are integer bitwise representations of floating point numbers that satisfy max>min in each dimension,
++ along with a further rule that minima(maxima) must have even(odd) values.
++
++ Each entry whose index is either in use or appears in the created array must be valid. An entry whose index is either not in use or
++ appears in the removed array need not be valid.
++
++ \param[in] boxGroups an array of group ids, one for each bound, used for pair filtering. Bounds with the same group id will not be
++ reported as overlap pairs by the broad phase. Zero is reserved for static bounds.
++
++ Entries in this array are immutable: the only way to change the group of an object is to remove it from the broad phase and reinsert
++ it at a different index (recall that each index must appear at most once in the created/updated/removed lists).
++
++ \param[in] boxesCapacity the length of the boxBounds and boxGroups arrays.
++
++ \see BroadPhase::update
++ */
++ BroadPhaseUpdateData(
++ const ShapeHandle* created, PxU32 createdSize,
++ const ShapeHandle* updated, PxU32 updatedSize,
++ const ShapeHandle* removed, PxU32 removedSize,
++ const PxBounds3* boxBounds, const Bp::FilterGroup::Enum* boxGroups, const PxReal* boxContactDistances, const PxU32* boxEnvIDs, PxU32 boxesCapacity,
++ const BpFilter& filter,
++ bool stateChanged,
++ bool gpuStateChanged
++ ) :
++ mCreated (created),
++ mCreatedSize (createdSize),
++ mUpdated (updated),
++ mUpdatedSize (updatedSize),
++ mRemoved (removed),
++ mRemovedSize (removedSize),
++ mBoxBounds (boxBounds),
++ mBoxGroups (boxGroups),
++ mBoxDistances (boxContactDistances),
++ mBoxEnvIDs (boxEnvIDs),
++ mBoxesCapacity (boxesCapacity),
++ mFilter (filter),
++ mStateChanged (stateChanged),
++ mGpuStateChanged(gpuStateChanged)
++ {
++ }
++
++ BroadPhaseUpdateData(
++ const ShapeHandle* created, PxU32 createdSize,
++ const ShapeHandle* updated, PxU32 updatedSize,
++ const ShapeHandle* removed, PxU32 removedSize,
++ const PxBounds3* boxBounds, const Bp::FilterGroup::Enum* boxGroups, const PxReal* boxContactDistances, PxU32 boxesCapacity,
++ const BpFilter& filter,
++ bool stateChanged,
++ bool gpuStateChanged
++ ) :
++ mCreated (created),
++ mCreatedSize (createdSize),
++ mUpdated (updated),
++ mUpdatedSize (updatedSize),
++ mRemoved (removed),
++ mRemovedSize (removedSize),
++ mBoxBounds (boxBounds),
++ mBoxGroups (boxGroups),
++ mBoxDistances (boxContactDistances),
++ mBoxEnvIDs (NULL),
++ mBoxesCapacity (boxesCapacity),
++ mFilter (filter),
++ mStateChanged (stateChanged),
++ mGpuStateChanged(gpuStateChanged)
++ {
++ }
++
++ BroadPhaseUpdateData(const BroadPhaseUpdateData& other) :
++ mCreated (other.mCreated),
++ mCreatedSize (other.mCreatedSize),
++ mUpdated (other.mUpdated),
++ mUpdatedSize (other.mUpdatedSize),
++ mRemoved (other.mRemoved),
++ mRemovedSize (other.mRemovedSize),
++ mBoxBounds (other.mBoxBounds),
++ mBoxGroups (other.mBoxGroups),
++ mBoxDistances (other.mBoxDistances),
++ mBoxEnvIDs (other.mBoxEnvIDs),
++ mBoxesCapacity (other.mBoxesCapacity),
++ mFilter (other.mFilter),
++ mStateChanged (other.mStateChanged),
++ mGpuStateChanged(other.mGpuStateChanged)
++ {
++ }
++
++ BroadPhaseUpdateData& operator=(const BroadPhaseUpdateData& other);
++
++ PX_FORCE_INLINE const ShapeHandle* getCreatedHandles() const { return mCreated; }
++ PX_FORCE_INLINE PxU32 getNumCreatedHandles() const { return mCreatedSize; }
++
++ PX_FORCE_INLINE const ShapeHandle* getUpdatedHandles() const { return mUpdated; }
++ PX_FORCE_INLINE PxU32 getNumUpdatedHandles() const { return mUpdatedSize; }
++
++ PX_FORCE_INLINE const ShapeHandle* getRemovedHandles() const { return mRemoved; }
++ PX_FORCE_INLINE PxU32 getNumRemovedHandles() const { return mRemovedSize; }
++
++ PX_FORCE_INLINE const PxBounds3* getAABBs() const { return mBoxBounds; }
++ PX_FORCE_INLINE const Bp::FilterGroup::Enum* getGroups() const { return mBoxGroups; }
++ PX_FORCE_INLINE const PxReal* getContactDistance() const { return mBoxDistances; }
++ PX_FORCE_INLINE const PxU32* getEnvIDs() const { return mBoxEnvIDs; }
++ PX_FORCE_INLINE PxU32 getCapacity() const { return mBoxesCapacity; }
++
++ PX_FORCE_INLINE const BpFilter& getFilter() const { return mFilter; }
++
++ PX_FORCE_INLINE bool getStateChanged() const { return mStateChanged; }
++ PX_FORCE_INLINE bool getGpuStateChanged() const { return mGpuStateChanged; }
++
++ #if PX_CHECKED
++ // PT: we skip bounds validation for the GPU so we cannot drop 'skipBoundValidation'
++ BroadPhaseUpdateError::Enum isValid(PxU64 contextID, const BroadPhase* bp = NULL, bool skipBoundValidation = false) const;
++ #endif
++
++ private:
++
++ const ShapeHandle* mCreated;
++ const PxU32 mCreatedSize;
++
++ const ShapeHandle* mUpdated;
++ const PxU32 mUpdatedSize;
++
++ const ShapeHandle* mRemoved;
++ const PxU32 mRemovedSize;
++
++ const PxBounds3* mBoxBounds;
++ const Bp::FilterGroup::Enum* mBoxGroups;
++ const PxReal* mBoxDistances;
++ const PxU32* mBoxEnvIDs;
++ const PxU32 mBoxesCapacity;
++
++ const BpFilter& mFilter;
++
++ const bool mStateChanged;
++ const bool mGpuStateChanged;
++ };
++
++ } //namespace Bp
++
++ } //namespace physx
++
++ #endif