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25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_CCT_MANAGER |
32 | #define PX_PHYSICS_CCT_MANAGER |
33 | /** \addtogroup character |
34 | @{ |
35 | */ |
36 | |
37 | #include "PxPhysXConfig.h" |
38 | #include "foundation/PxFlags.h" |
39 | #include "foundation/PxErrorCallback.h" |
40 | #include "common/PxRenderBuffer.h" |
41 | |
42 | #if !PX_DOXYGEN |
43 | namespace physx |
44 | { |
45 | #endif |
46 | |
47 | class PxPhysics; |
48 | class PxScene; |
49 | class PxController; |
50 | class PxControllerDesc; |
51 | class PxObstacleContext; |
52 | class PxControllerFilterCallback; |
53 | |
54 | /** |
55 | \brief specifies debug-rendering flags |
56 | */ |
57 | struct PxControllerDebugRenderFlag |
58 | { |
59 | enum Enum |
60 | { |
61 | eTEMPORAL_BV = (1<<0), //!< Temporal bounding volume around controllers |
62 | eCACHED_BV = (1<<1), //!< Cached bounding volume around controllers |
63 | eOBSTACLES = (1<<2), //!< User-defined obstacles |
64 | |
65 | eNONE = 0, |
66 | eALL = 0xffffffff |
67 | }; |
68 | }; |
69 | |
70 | /** |
71 | \brief Bitfield that contains a set of raised flags defined in PxControllerDebugRenderFlag. |
72 | |
73 | @see PxControllerDebugRenderFlag |
74 | */ |
75 | typedef PxFlags<PxControllerDebugRenderFlag::Enum, PxU32> PxControllerDebugRenderFlags; |
76 | PX_FLAGS_OPERATORS(PxControllerDebugRenderFlag::Enum, PxU32) |
77 | |
78 | |
79 | /** |
80 | \brief Manages an array of character controllers. |
81 | |
82 | @see PxController PxBoxController PxCapsuleController |
83 | */ |
84 | class PxControllerManager |
85 | { |
86 | public: |
87 | /** |
88 | \brief Releases the controller manager. |
89 | |
90 | \note This will release all associated controllers and obstacle contexts. |
91 | |
92 | \note This function is required to be called to release foundation usage. |
93 | |
94 | */ |
95 | virtual void release() = 0; |
96 | |
97 | /** |
98 | \brief Returns the scene the manager is adding the controllers to. |
99 | |
100 | \return The associated physics scene. |
101 | */ |
102 | virtual PxScene& getScene() const = 0; |
103 | |
104 | /** |
105 | \brief Returns the number of controllers that are being managed. |
106 | |
107 | \return The number of controllers. |
108 | */ |
109 | virtual PxU32 getNbControllers() const = 0; |
110 | |
111 | /** |
112 | \brief Retrieve one of the controllers in the manager. |
113 | |
114 | \param index the index of the controller to return |
115 | \return The controller with the specified index. |
116 | */ |
117 | virtual PxController* getController(PxU32 index) = 0; |
118 | |
119 | /** |
120 | \brief Creates a new character controller. |
121 | |
122 | \param[in] desc The controllers descriptor |
123 | \return The new controller |
124 | |
125 | @see PxController PxController.release() PxControllerDesc |
126 | */ |
127 | virtual PxController* createController(const PxControllerDesc& desc) = 0; |
128 | |
129 | /** |
130 | \brief Releases all the controllers that are being managed. |
131 | */ |
132 | virtual void purgeControllers() = 0; |
133 | |
134 | /** |
135 | \brief Retrieves debug data. |
136 | |
137 | \return The render buffer filled with debug-render data |
138 | |
139 | @see PxControllerManager.setDebugRenderingFlags() |
140 | */ |
141 | virtual PxRenderBuffer& getRenderBuffer() = 0; |
142 | |
143 | /** |
144 | \brief Sets debug rendering flags |
145 | |
146 | \param[in] flags The debug rendering flags (combination of PxControllerDebugRenderFlags) |
147 | |
148 | @see PxControllerManager.getRenderBuffer() PxControllerDebugRenderFlags |
149 | */ |
150 | virtual void setDebugRenderingFlags(PxControllerDebugRenderFlags flags) = 0; |
151 | |
152 | /** |
153 | \brief Returns the number of obstacle contexts that are being managed. |
154 | |
155 | \return The number of obstacle contexts. |
156 | */ |
157 | virtual PxU32 getNbObstacleContexts() const = 0; |
158 | |
159 | /** |
160 | \brief Retrieve one of the obstacle contexts in the manager. |
161 | |
162 | \param index The index of the obstacle context to retrieve. |
163 | \return The obstacle context with the specified index. |
164 | */ |
165 | virtual PxObstacleContext* getObstacleContext(PxU32 index) = 0; |
166 | |
167 | /** |
168 | \brief Creates an obstacle context. |
169 | |
170 | \return New obstacle context |
171 | |
172 | @see PxObstacleContext |
173 | */ |
174 | virtual PxObstacleContext* createObstacleContext() = 0; |
175 | |
176 | /** |
177 | \brief Computes character-character interactions. |
178 | |
179 | This function is an optional helper to properly resolve interactions between characters, in case they overlap (which can happen for gameplay reasons, etc). |
180 | |
181 | You should call this once per frame, before your PxController::move() calls. The function will not move the characters directly, but it will |
182 | compute overlap information for each character that will be used in the next move() call. |
183 | |
184 | You need to provide a proper time value here so that interactions are resolved in a way that do not depend on the framerate. |
185 | |
186 | If you only have one character in the scene, or if you can guarantee your characters will never overlap, then you do not need to call this function. |
187 | |
188 | \note Releasing the manager will automatically release all the associated obstacle contexts. |
189 | |
190 | \param[in] elapsedTime Elapsed time since last call |
191 | \param[in] cctFilterCb Filtering callback for CCT-vs-CCT interactions |
192 | */ |
193 | virtual void computeInteractions(PxF32 elapsedTime, PxControllerFilterCallback* cctFilterCb=NULL) = 0; |
194 | |
195 | /** |
196 | \brief Enables or disables runtime tessellation. |
197 | |
198 | Large triangles can create accuracy issues in the sweep code, which in turn can lead to characters not sliding smoothly |
199 | against geometries, or even penetrating them. This feature allows one to reduce those issues by tessellating large |
200 | triangles at runtime, before performing sweeps against them. The amount of tessellation is controlled by the 'maxEdgeLength' parameter. |
201 | Any triangle with at least one edge length greater than the maxEdgeLength will get recursively tessellated, until resulting triangles are small enough. |
202 | |
203 | This features only applies to triangle meshes, convex meshes, heightfields and boxes. |
204 | |
205 | \param[in] flag True/false to enable/disable runtime tessellation. |
206 | \param[in] maxEdgeLength Max edge length allowed before tessellation kicks in. |
207 | */ |
208 | virtual void setTessellation(bool flag, float maxEdgeLength) = 0; |
209 | |
210 | /** |
211 | \brief Enables or disables the overlap recovery module. |
212 | |
213 | The overlap recovery module can be used to depenetrate CCTs from static objects when an overlap is detected. This can happen |
214 | in three main cases: |
215 | - when the CCT is directly spawned or teleported in another object |
216 | - when the CCT algorithm fails due to limited FPU accuracy |
217 | - when the "up vector" is modified, making the rotated CCT shape overlap surrounding objects |
218 | |
219 | When activated, the CCT module will automatically try to resolve the penetration, and move the CCT to a safe place where it does |
220 | not overlap other objects anymore. This only concerns static objects, dynamic objects are ignored by the recovery module. |
221 | |
222 | When the recovery module is not activated, it is possible for the CCTs to go through static objects. By default, the recovery |
223 | module is enabled. |
224 | |
225 | The recovery module currently works with all geometries except heightfields. |
226 | |
227 | \param[in] flag True/false to enable/disable overlap recovery module. |
228 | */ |
229 | virtual void setOverlapRecoveryModule(bool flag) = 0; |
230 | |
231 | /** |
232 | \brief Enables or disables the precise sweeps. |
233 | |
234 | Precise sweeps are more accurate, but also potentially slower than regular sweeps. |
235 | |
236 | By default, precise sweeps are enabled. |
237 | |
238 | \param[in] flag True/false to enable/disable precise sweeps. |
239 | */ |
240 | virtual void setPreciseSweeps(bool flag) = 0; |
241 | |
242 | /** |
243 | \brief Enables or disables vertical sliding against ceilings. |
244 | |
245 | Geometry is seen as "ceilings" when the following condition is met: |
246 | |
247 | dot product(contact normal, up direction)<0.0f |
248 | |
249 | This flag controls whether characters should slide vertically along the geometry in that case. |
250 | |
251 | By default, sliding is allowed. |
252 | |
253 | \param[in] flag True/false to enable/disable sliding. |
254 | */ |
255 | virtual void setPreventVerticalSlidingAgainstCeiling(bool flag) = 0; |
256 | |
257 | /** |
258 | \brief Shift the origin of the character controllers and obstacle objects by the specified vector. |
259 | |
260 | The positions of all character controllers, obstacle objects and the corresponding data structures will get adjusted to reflect the shifted origin location |
261 | (the shift vector will get subtracted from all character controller and obstacle object positions). |
262 | |
263 | \note It is the user's responsibility to keep track of the summed total origin shift and adjust all input/output to/from PhysXCharacterKinematic accordingly. |
264 | |
265 | \note This call will not automatically shift the PhysX scene and its objects. You need to call PxScene::shiftOrigin() seperately to keep the systems in sync. |
266 | |
267 | \param[in] shift Translation vector to shift the origin by. |
268 | */ |
269 | virtual void shiftOrigin(const PxVec3& shift) = 0; |
270 | |
271 | protected: |
272 | PxControllerManager() {} |
273 | virtual ~PxControllerManager() {} |
274 | }; |
275 | |
276 | #if !PX_DOXYGEN |
277 | } // namespace physx |
278 | #endif |
279 | |
280 | /** |
281 | \brief Creates the controller manager. |
282 | |
283 | \param[in] scene PhysX scene. |
284 | \param[in] lockingEnabled Enables/disables internal locking. |
285 | |
286 | The character controller is informed by #PxDeletionListener::onRelease() when actors or shapes are released, and updates its internal |
287 | caches accordingly. If character controller movement or a call to #PxControllerManager::shiftOrigin() may overlap with actor/shape releases, |
288 | internal data structures must be guarded against concurrent access. |
289 | |
290 | Locking guarantees thread safety in such scenarios. |
291 | |
292 | \note locking may result in significant slowdown for release of actors or shapes. |
293 | |
294 | By default, locking is disabled. |
295 | */ |
296 | PX_C_EXPORT physx::PxControllerManager* PX_CALL_CONV PxCreateControllerManager(physx::PxScene& scene, bool lockingEnabled = false); |
297 | |
298 | /** @} */ |
299 | #endif //PX_PHYSICS_CCT_MANAGER |
300 | |