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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_EXTENSIONS_DEFAULTSIMULATIONFILTERSHADER_H |
32 | #define PX_PHYSICS_EXTENSIONS_DEFAULTSIMULATIONFILTERSHADER_H |
33 | /** \addtogroup extensions |
34 | @{ |
35 | */ |
36 | |
37 | #include "PxPhysXConfig.h" |
38 | |
39 | #include "PxFiltering.h" |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | class PxActor; |
47 | |
48 | /** |
49 | \brief 64-bit mask used for collision filtering. |
50 | |
51 | The collision filtering equation for 2 objects o0 and o1 is: |
52 | |
53 | <pre> (G0 op0 K0) op2 (G1 op1 K1) == b </pre> |
54 | |
55 | with |
56 | |
57 | <ul> |
58 | <li> G0 = PxGroupsMask for object o0. See PxSetGroupsMask </li> |
59 | <li> G1 = PxGroupsMask for object o1. See PxSetGroupsMask </li> |
60 | <li> K0 = filtering constant 0. See PxSetFilterConstants </li> |
61 | <li> K1 = filtering constant 1. See PxSetFilterConstants </li> |
62 | <li> b = filtering boolean. See PxSetFilterBool </li> |
63 | <li> op0, op1, op2 = filtering operations. See PxSetFilterOps </li> |
64 | </ul> |
65 | |
66 | If the filtering equation is true, collision detection is enabled. |
67 | |
68 | @see PxSetFilterOps() |
69 | */ |
70 | class PxGroupsMask |
71 | { |
72 | public: |
73 | PX_INLINE PxGroupsMask():bits0(0),bits1(0),bits2(0),bits3(0) {} |
74 | PX_INLINE ~PxGroupsMask() {} |
75 | |
76 | PxU16 bits0, bits1, bits2, bits3; |
77 | }; |
78 | |
79 | /** |
80 | \brief Collision filtering operations. |
81 | |
82 | @see PxGroupsMask |
83 | */ |
84 | struct PxFilterOp |
85 | { |
86 | enum Enum |
87 | { |
88 | PX_FILTEROP_AND, |
89 | PX_FILTEROP_OR, |
90 | PX_FILTEROP_XOR, |
91 | PX_FILTEROP_NAND, |
92 | PX_FILTEROP_NOR, |
93 | PX_FILTEROP_NXOR, |
94 | PX_FILTEROP_SWAP_AND |
95 | }; |
96 | }; |
97 | |
98 | /** |
99 | \brief Implementation of a simple filter shader that emulates PhysX 2.8.x filtering |
100 | |
101 | This shader provides the following logic: |
102 | \li If one of the two filter objects is a trigger, the pair is acccepted and #PxPairFlag::eTRIGGER_DEFAULT will be used for trigger reports |
103 | \li Else, if the filter mask logic (see further below) discards the pair it will be suppressed (#PxFilterFlag::eSUPPRESS) |
104 | \li Else, the pair gets accepted and collision response gets enabled (#PxPairFlag::eCONTACT_DEFAULT) |
105 | |
106 | Filter mask logic: |
107 | Given the two #PxFilterData structures fd0 and fd1 of two collision objects, the pair passes the filter if the following |
108 | conditions are met: |
109 | |
110 | 1) Collision groups of the pair are enabled |
111 | 2) Collision filtering equation is satisfied |
112 | |
113 | @see PxSimulationFilterShader |
114 | */ |
115 | |
116 | PxFilterFlags PxDefaultSimulationFilterShader( |
117 | PxFilterObjectAttributes attributes0, |
118 | PxFilterData filterData0, |
119 | PxFilterObjectAttributes attributes1, |
120 | PxFilterData filterData1, |
121 | PxPairFlags& pairFlags, |
122 | const void* constantBlock, |
123 | PxU32 constantBlockSize); |
124 | |
125 | /** |
126 | \brief Determines if collision detection is performed between a pair of groups |
127 | |
128 | \note Collision group is an integer between 0 and 31. |
129 | |
130 | \param[in] group1 First Group |
131 | \param[in] group2 Second Group |
132 | |
133 | \return True if the groups could collide |
134 | |
135 | @see PxSetGroupCollisionFlag |
136 | */ |
137 | bool PxGetGroupCollisionFlag(const PxU16 group1, const PxU16 group2); |
138 | |
139 | /** |
140 | \brief Specifies if collision should be performed by a pair of groups |
141 | |
142 | \note Collision group is an integer between 0 and 31. |
143 | |
144 | \param[in] group1 First Group |
145 | \param[in] group2 Second Group |
146 | \param[in] enable True to enable collision between the groups |
147 | |
148 | @see PxGetGroupCollisionFlag |
149 | */ |
150 | void PxSetGroupCollisionFlag(const PxU16 group1, const PxU16 group2, const bool enable); |
151 | |
152 | /** |
153 | \brief Retrieves the value set with PxSetGroup() |
154 | |
155 | \note Collision group is an integer between 0 and 31. |
156 | |
157 | \param[in] actor The actor |
158 | |
159 | \return The collision group this actor belongs to |
160 | |
161 | @see PxSetGroup |
162 | */ |
163 | PxU16 PxGetGroup(const PxActor& actor); |
164 | |
165 | /** |
166 | \brief Sets which collision group this actor is part of |
167 | |
168 | \note Collision group is an integer between 0 and 31. |
169 | |
170 | \param[in] actor The actor |
171 | \param[in] collisionGroup Collision group this actor belongs to |
172 | |
173 | @see PxGetGroup |
174 | */ |
175 | void PxSetGroup(PxActor& actor, const PxU16 collisionGroup); |
176 | |
177 | /** |
178 | \brief Retrieves filtering operation. See comments for PxGroupsMask |
179 | |
180 | \param[out] op0 First filter operator. |
181 | \param[out] op1 Second filter operator. |
182 | \param[out] op2 Third filter operator. |
183 | |
184 | @see PxSetFilterOps PxSetFilterBool PxSetFilterConstants |
185 | */ |
186 | void PxGetFilterOps(PxFilterOp::Enum& op0, PxFilterOp::Enum& op1, PxFilterOp::Enum& op2); |
187 | |
188 | /** |
189 | \brief Setups filtering operations. See comments for PxGroupsMask |
190 | |
191 | \param[in] op0 Filter op 0. |
192 | \param[in] op1 Filter op 1. |
193 | \param[in] op2 Filter op 2. |
194 | |
195 | @see PxSetFilterBool PxSetFilterConstants |
196 | */ |
197 | void PxSetFilterOps(const PxFilterOp::Enum& op0, const PxFilterOp::Enum& op1, const PxFilterOp::Enum& op2); |
198 | |
199 | /** |
200 | \brief Retrieves filtering's boolean value. See comments for PxGroupsMask |
201 | |
202 | \return flag Boolean value for filter. |
203 | |
204 | @see PxSetFilterBool PxSetFilterConstants |
205 | */ |
206 | bool PxGetFilterBool(); |
207 | |
208 | /** |
209 | \brief Setups filtering's boolean value. See comments for PxGroupsMask |
210 | |
211 | \param[in] enable Boolean value for filter. |
212 | |
213 | @see PxSetFilterOps PxSsetFilterConstants |
214 | */ |
215 | void PxSetFilterBool(const bool enable); |
216 | |
217 | /** |
218 | \brief Gets filtering constant K0 and K1. See comments for PxGroupsMask |
219 | |
220 | \param[out] c0 the filtering constants, as a mask. See #PxGroupsMask. |
221 | \param[out] c1 the filtering constants, as a mask. See #PxGroupsMask. |
222 | |
223 | @see PxSetFilterOps PxSetFilterBool PxSetFilterConstants |
224 | */ |
225 | void PxGetFilterConstants(PxGroupsMask& c0, PxGroupsMask& c1); |
226 | |
227 | /** |
228 | \brief Setups filtering's K0 and K1 value. See comments for PxGroupsMask |
229 | |
230 | \param[in] c0 The new group mask. See #PxGroupsMask. |
231 | \param[in] c1 The new group mask. See #PxGroupsMask. |
232 | |
233 | @see PxSetFilterOps PxSetFilterBool PxGetFilterConstants |
234 | */ |
235 | void PxSetFilterConstants(const PxGroupsMask& c0, const PxGroupsMask& c1); |
236 | |
237 | /** |
238 | \brief Gets 64-bit mask used for collision filtering. See comments for PxGroupsMask |
239 | |
240 | \param[in] actor The actor |
241 | |
242 | \return The group mask for the actor. |
243 | |
244 | @see PxSetGroupsMask() |
245 | */ |
246 | PxGroupsMask PxGetGroupsMask(const PxActor& actor); |
247 | |
248 | /** |
249 | \brief Sets 64-bit mask used for collision filtering. See comments for PxGroupsMask |
250 | |
251 | \param[in] actor The actor |
252 | \param[in] mask The group mask to set for the actor. |
253 | |
254 | @see PxGetGroupsMask() |
255 | */ |
256 | void PxSetGroupsMask(PxActor& actor, const PxGroupsMask& mask); |
257 | |
258 | #if !PX_DOXYGEN |
259 | } // namespace physx |
260 | #endif |
261 | |
262 | /** @} */ |
263 | #endif |
264 | |