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) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #ifndef SQ_QUERY_H
+ #define SQ_QUERY_H
+
+ // PT: SQ-API LEVEL 3 (Level 1 = SqPruner.h, Level 2 = SqManager/SqPrunerData)
+ // PT: this file is part of a "high-level" set of files within Sq. The SqPruner API doesn't rely on them.
+ // PT: this should really be at Np level but moving it to Sq allows us to share it.
+
+ #include "foundation/PxSimpleTypes.h"
+ #include "geometry/PxGeometryQueryFlags.h"
+
+ #include "SqManager.h"
+ #include "PxQueryReport.h"
+ #include "GuCachedFuncs.h"
+
+ namespace physx
+ {
+ class PxGeometry;
+ struct PxQueryFilterData;
+ struct PxFilterData;
+ class PxQueryFilterCallback;
+
+ namespace Sq
+ {
+ struct MultiQueryInput;
+
+ class PVDCapture
+ {
+ public:
+ PVDCapture() {}
+ virtual ~PVDCapture() {}
+
+ 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 QueryAdapter : public Adapter
+ {
+ public:
+ QueryAdapter() {}
+ virtual ~QueryAdapter() {}
+
+ // 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;
+ };
+
+ }
+
+ class SceneQueries
+ {
+ PX_NOCOPY(SceneQueries)
+ public:
+ SceneQueries(Sq::PVDCapture* pvd, PxU64 contextID, Gu::Pruner* staticPruner, Gu::Pruner* dynamicPruner,
+ PxU32 dynamicTreeRebuildRateHint, float inflation,
+ const PxSceneLimits& limits, const Sq::QueryAdapter& adapter);
+ ~SceneQueries();
+
+ PX_FORCE_INLINE Sq::PrunerManager& getPrunerManagerFast() { return mSQManager; }
+ PX_FORCE_INLINE const Sq::PrunerManager& getPrunerManagerFast() const { return mSQManager; }
+
+ template<typename QueryHit>
+ bool multiQuery(
+ const Sq::MultiQueryInput& in,
+ PxHitCallback<QueryHit>& hits, PxHitFlags hitFlags, const PxQueryCache* cache,
+ 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::PrunerManager mSQManager;
+ public:
+ Gu::CachedFuncs mCachedFuncs;
+
+ Sq::PVDCapture* mPVD;
+ };
+
+ #if PX_SUPPORT_EXTERN_TEMPLATE
+ //explicit template instantiation declaration
+ extern template
+ bool SceneQueries::multiQuery<PxRaycastHit>(const Sq::MultiQueryInput&, PxHitCallback<PxRaycastHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
+
+ extern template
+ bool SceneQueries::multiQuery<PxOverlapHit>(const Sq::MultiQueryInput&, PxHitCallback<PxOverlapHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
+
+ extern template
+ bool SceneQueries::multiQuery<PxSweepHit>(const Sq::MultiQueryInput&, PxHitCallback<PxSweepHit>&, PxHitFlags, const PxQueryCache*, const PxQueryFilterData&, PxQueryFilterCallback*) const;
+ #endif
+
+ }
+
+ #endif