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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 GU_SQ_INTERNAL_H
#define GU_SQ_INTERNAL_H
#include "foundation/PxSimpleTypes.h"
#include "common/PxPhysXCommonConfig.h"
#define SQ_DEBUG_VIZ_STATIC_COLOR PxU32(PxDebugColor::eARGB_BLUE)
#define SQ_DEBUG_VIZ_DYNAMIC_COLOR PxU32(PxDebugColor::eARGB_RED)
#define SQ_DEBUG_VIZ_STATIC_COLOR2 PxU32(PxDebugColor::eARGB_DARKBLUE)
#define SQ_DEBUG_VIZ_DYNAMIC_COLOR2 PxU32(PxDebugColor::eARGB_DARKRED)
#define SQ_DEBUG_VIZ_COMPOUND_COLOR PxU32(PxDebugColor::eARGB_MAGENTA)
namespace physx
{
class PxRenderOutput;
class PxBounds3;
namespace Gu
{
class BVH;
class AABBTree;
class IncrementalAABBTree;
class IncrementalAABBTreeNode;
}
class DebugVizCallback
{
public:
DebugVizCallback() {}
virtual ~DebugVizCallback() {}
virtual bool visualizeNode(const physx::Gu::IncrementalAABBTreeNode& node, const physx::PxBounds3& bounds) = 0;
};
}
PX_PHYSX_COMMON_API void visualizeTree(physx::PxRenderOutput& out, physx::PxU32 color, const physx::Gu::BVH* tree);
PX_PHYSX_COMMON_API void visualizeTree(physx::PxRenderOutput& out, physx::PxU32 color, const physx::Gu::AABBTree* tree);
PX_PHYSX_COMMON_API void visualizeTree(physx::PxRenderOutput& out, physx::PxU32 color, const physx::Gu::IncrementalAABBTree* tree, physx::DebugVizCallback* cb=NULL);
// PT: macros to try limiting the code duplication in headers. Mostly it just redefines the
// SqPruner API in implementation classes, and you shouldn't have to worry about it.
// Note that this assumes pool-based pruners with an mPool class member (for now).
#define DECLARE_BASE_PRUNER_API \
virtual void shiftOrigin(const PxVec3& shift) PX_OVERRIDE; \
virtual void visualize(PxRenderOutput& out, PxU32 primaryColor, PxU32 secondaryColor) const PX_OVERRIDE;
#define DECLARE_PRUNER_API_COMMON \
virtual bool addObjects(PrunerHandle* results, const PxBounds3* bounds, const PrunerPayload* data, const PxTransform* transforms, PxU32 count, bool hasPruningStructure) PX_OVERRIDE; \
virtual void removeObjects(const PrunerHandle* handles, PxU32 count, PrunerPayloadRemovalCallback* removalCallback) PX_OVERRIDE; \
virtual void updateObjects(const PrunerHandle* handles, PxU32 count, float inflation, const PxU32* boundsIndices, const PxBounds3* newBounds, const PxTransform32* newTransforms) PX_OVERRIDE; \
virtual void purge() PX_OVERRIDE; \
virtual void commit() PX_OVERRIDE; \
virtual void merge(const void* mergeParams) PX_OVERRIDE; \
virtual bool raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal& inOutDistance, Gu::PrunerRaycastCallback&) const PX_OVERRIDE; \
virtual bool overlap(const Gu::ShapeData& queryVolume, Gu::PrunerOverlapCallback&) const PX_OVERRIDE; \
virtual bool sweep(const Gu::ShapeData& queryVolume, const PxVec3& unitDir, PxReal& inOutDistance, Gu::PrunerRaycastCallback&) const PX_OVERRIDE; \
virtual const PrunerPayload& getPayloadData(PrunerHandle handle, PrunerPayloadData* data) const PX_OVERRIDE { return mPool.getPayloadData(handle, data); } \
virtual void preallocate(PxU32 entries) PX_OVERRIDE { mPool.preallocate(entries); } \
virtual bool setTransform(PrunerHandle handle, const PxTransform& transform) PX_OVERRIDE { return mPool.setTransform(handle, transform); } \
virtual void getGlobalBounds(PxBounds3&) const PX_OVERRIDE;
#endif