SqQuery.h - mozsearch

// 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 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

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