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++ // 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 EXT_SQ_QUERY_H
++ #define EXT_SQ_QUERY_H
++
++ #include "foundation/PxSimpleTypes.h"
++ #include "geometry/PxGeometryQueryFlags.h"
++
++ #include "ExtSqManager.h"
++ #include "PxQueryReport.h"
++ #include "GuCachedFuncs.h"
++
++ namespace physx
++ {
++ class PxGeometry;
++ struct PxQueryFilterData;
++ struct PxFilterData;
++ class PxQueryFilterCallback;
++
++ namespace Sq
++ {
++ struct ExtMultiQueryInput;
++
++ class ExtPVDCapture
++ {
++ public:
++ ExtPVDCapture() {}
++ virtual ~ExtPVDCapture() {}
++
++ virtual bool transmitSceneQueries() = 0;
++
++ virtual void raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal distance, const PxRaycastHit* hit, PxU32 hitsNum, const PxQueryFilterData& filterData, bool multipleHits) = 0;
++ virtual void sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, PxReal distance, const PxSweepHit* hit, PxU32 hitsNum, const PxQueryFilterData& filterData, bool multipleHits) = 0;
++ virtual void overlap(const PxGeometry& geometry, const PxTransform& pose, const PxOverlapHit* hit, PxU32 hitsNum, const PxQueryFilterData& filterData) = 0;
++ };
++
++ // SceneQueries-level adapter. Augments the PrunerManager-level adapter with functions needed to perform queries.
++ class ExtQueryAdapter : public Adapter
++ {
++ public:
++ ExtQueryAdapter() {}
++ virtual ~ExtQueryAdapter() {}
++
++ // PT: TODO: decouple from PxQueryCache?
++ virtual Gu::PrunerHandle findPrunerHandle(const PxQueryCache& cache, PrunerCompoundId& compoundId, PxU32& prunerIndex) const = 0;
++
++ // PT: TODO: return reference? but this version is at least consistent with getActorShape
++ virtual void getFilterData(const Gu::PrunerPayload& payload, PxFilterData& filterData) const = 0;
++ virtual void getActorShape(const Gu::PrunerPayload& payload, PxActorShape& actorShape) const = 0;
++
++ // PT: new for this customized version: a function to perform per-pruner filtering
++ virtual bool processPruner(PxU32 prunerIndex, const PxQueryThreadContext* context, const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall) const = 0;
++ };
++ }
++
++ // PT: this is a customized version of physx::Sq::SceneQueries that supports more than 2 hardcoded pruners.
++ // It might not be possible to support the whole PxSceneQuerySystem API with an arbitrary number of pruners.
++ class ExtSceneQueries
++ {
++ PX_NOCOPY(ExtSceneQueries)
++ public:
++ ExtSceneQueries(Sq::ExtPVDCapture* pvd, PxU64 contextID,
++ float inflation, const Sq::ExtQueryAdapter& adapter, bool usesTreeOfPruners);
++ ~ExtSceneQueries();
++
++ PX_FORCE_INLINE Sq::ExtPrunerManager& getPrunerManagerFast() { return mSQManager; }
++ PX_FORCE_INLINE const Sq::ExtPrunerManager& getPrunerManagerFast() const { return mSQManager; }
++
++ template<typename QueryHit>
++ bool multiQuery(
++ const Sq::ExtMultiQueryInput& in,
++ PxHitCallback<QueryHit>& hits, PxHitFlags hitFlags, const PxQueryCache*,
++ const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall) const;
++
++ bool _raycast(
++ const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, // Ray data
++ PxRaycastCallback& hitCall, PxHitFlags hitFlags,
++ const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
++ const PxQueryCache* cache, PxGeometryQueryFlags flags) const;
++
++ bool _sweep(
++ const PxGeometry& geometry, const PxTransform& pose, // GeomObject data
++ const PxVec3& unitDir, const PxReal distance, // Ray data
++ PxSweepCallback& hitCall, PxHitFlags hitFlags,
++ const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
++ const PxQueryCache* cache, const PxReal inflation, PxGeometryQueryFlags flags) const;
++
++ bool _overlap(
++ const PxGeometry& geometry, const PxTransform& transform, // GeomObject data
++ PxOverlapCallback& hitCall,
++ const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
++ const PxQueryCache* cache, PxGeometryQueryFlags flags) const;
++
++ PX_FORCE_INLINE PxU64 getContextId() const { return mSQManager.getContextId(); }
++ Sq::ExtPrunerManager mSQManager;
++ public:
++ Gu::CachedFuncs mCachedFuncs;
++
++ Sq::ExtPVDCapture* mPVD;
++ };
++
++ #if PX_SUPPORT_EXTERN_TEMPLATE
++ //explicit template instantiation declaration
++ extern template
++ bool ExtSceneQueries::multiQuery<PxRaycastHit>(const Sq::ExtMultiQueryInput&, PxHitCallback<PxRaycastHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
++
++ extern template
++ bool ExtSceneQueries::multiQuery<PxOverlapHit>(const Sq::ExtMultiQueryInput&, PxHitCallback<PxOverlapHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
++
++ extern template
++ bool ExtSceneQueries::multiQuery<PxSweepHit>(const Sq::ExtMultiQueryInput&, PxHitCallback<PxSweepHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
++ #endif
++
++ }
++
++ #endif