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29
30
31#ifndef PX_PHYSICS_EXTENSIONS_SCENE_QUERY_H
32#define PX_PHYSICS_EXTENSIONS_SCENE_QUERY_H
33/** \addtogroup extensions
34 @{
35*/
36
37#include "PxPhysXConfig.h"
38
39#include "PxScene.h"
40
41#if !PX_DOXYGEN
42namespace physx
43{
44#endif
45
46// These types have been deprecated (removed) in PhysX 3.4. We typedef them to the new types here for easy migration from 3.3 to 3.4.
47typedef PxQueryHit PxSceneQueryHit;
48typedef PxQueryFilterData PxSceneQueryFilterData;
49typedef PxQueryFilterCallback PxSceneQueryFilterCallback;
50typedef PxQueryCache PxSceneQueryCache;
51typedef PxHitFlag PxSceneQueryFlag;
52typedef PxHitFlags PxSceneQueryFlags;
53
54/**
55\brief utility functions for use with PxScene, related to scene queries.
56
57Some of these functions have been deprecated (removed) in PhysX 3.4. We re-implement them here for easy migration from 3.3 to 3.4.
58
59@see PxShape
60*/
61
62class PxSceneQueryExt
63{
64public:
65
66 /**
67 \brief Raycast returning any blocking hit, not necessarily the closest.
68
69 Returns whether any rigid actor is hit along the ray.
70
71 \note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.
72
73 \param[in] scene The scene
74 \param[in] origin Origin of the ray.
75 \param[in] unitDir Normalized direction of the ray.
76 \param[in] distance Length of the ray. Needs to be larger than 0.
77 \param[out] hit Raycast hit information.
78 \param[in] filterData Filtering data and simple logic.
79 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
80 \param[in] cache Cached hit shape (optional). Ray is tested against cached shape first. If no hit is found the ray gets queried against the scene.
81 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
82 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
83 \return True if a blocking hit was found.
84
85 @see PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache PxSceneQueryHit
86 */
87 static bool raycastAny( const PxScene& scene,
88 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
89 PxSceneQueryHit& hit, const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
90 PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);
91
92 /**
93 \brief Raycast returning a single result.
94
95 Returns the first rigid actor that is hit along the ray. Data for a blocking hit will be returned as specified by the outputFlags field. Touching hits will be ignored.
96
97 \note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.
98
99 \param[in] scene The scene
100 \param[in] origin Origin of the ray.
101 \param[in] unitDir Normalized direction of the ray.
102 \param[in] distance Length of the ray. Needs to be larger than 0.
103 \param[in] outputFlags Specifies which properties should be written to the hit information
104 \param[out] hit Raycast hit information.
105 \param[in] filterData Filtering data and simple logic.
106 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
107 \param[in] cache Cached hit shape (optional). Ray is tested against cached shape first then against the scene.
108 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
109 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
110 \return True if a blocking hit was found.
111
112 @see PxSceneQueryFlags PxRaycastHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
113 */
114 static bool raycastSingle( const PxScene& scene,
115 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
116 PxSceneQueryFlags outputFlags, PxRaycastHit& hit,
117 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
118 PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);
119
120 /**
121 \brief Raycast returning multiple results.
122
123 Find all rigid actors that get hit along the ray. Each result contains data as specified by the outputFlags field.
124
125 \note Touching hits are not ordered.
126
127 \note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.
128
129 \param[in] scene The scene
130 \param[in] origin Origin of the ray.
131 \param[in] unitDir Normalized direction of the ray.
132 \param[in] distance Length of the ray. Needs to be larger than 0.
133 \param[in] outputFlags Specifies which properties should be written to the hit information
134 \param[out] hitBuffer Raycast hit information buffer. If the buffer overflows, the blocking hit is returned as the last entry together with an arbitrary subset
135 of the nearer touching hits (typically the query should be restarted with a larger buffer).
136 \param[in] hitBufferSize Size of the hit buffer.
137 \param[out] blockingHit True if a blocking hit was found. If found, it is the last in the buffer, preceded by any touching hits which are closer. Otherwise the touching hits are listed.
138 \param[in] filterData Filtering data and simple logic.
139 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be touching.
140 \param[in] cache Cached hit shape (optional). Ray is tested against cached shape first then against the scene.
141 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
142 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
143 \return Number of hits in the buffer, or -1 if the buffer overflowed.
144
145 @see PxSceneQueryFlags PxRaycastHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
146 */
147 static PxI32 raycastMultiple( const PxScene& scene,
148 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
149 PxSceneQueryFlags outputFlags,
150 PxRaycastHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
151 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
152 PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);
153
154 /**
155 \brief Sweep returning any blocking hit, not necessarily the closest.
156
157 Returns whether any rigid actor is hit along the sweep path.
158
159 \note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.
160
161 \param[in] scene The scene
162 \param[in] geometry Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
163 \param[in] pose Pose of the sweep object.
164 \param[in] unitDir Normalized direction of the sweep.
165 \param[in] distance Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
166 \param[in] queryFlags Combination of PxSceneQueryFlag defining the query behavior
167 \param[out] hit Sweep hit information.
168 \param[in] filterData Filtering data and simple logic.
169 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
170 \param[in] cache Cached hit shape (optional). Sweep is performed against cached shape first. If no hit is found the sweep gets queried against the scene.
171 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
172 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
173 \param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
174 \return True if a blocking hit was found.
175
176 @see PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryHit PxSceneQueryCache
177 */
178 static bool sweepAny( const PxScene& scene,
179 const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
180 PxSceneQueryFlags queryFlags,
181 PxSceneQueryHit& hit,
182 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
183 PxSceneQueryFilterCallback* filterCall = NULL,
184 const PxSceneQueryCache* cache = NULL,
185 PxReal inflation = 0.0f);
186
187 /**
188 \brief Sweep returning a single result.
189
190 Returns the first rigid actor that is hit along the ray. Data for a blocking hit will be returned as specified by the outputFlags field. Touching hits will be ignored.
191
192 \note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.
193
194 \param[in] scene The scene
195 \param[in] geometry Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
196 \param[in] pose Pose of the sweep object.
197 \param[in] unitDir Normalized direction of the sweep.
198 \param[in] distance Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
199 \param[in] outputFlags Specifies which properties should be written to the hit information.
200 \param[out] hit Sweep hit information.
201 \param[in] filterData Filtering data and simple logic.
202 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
203 \param[in] cache Cached hit shape (optional). Sweep is performed against cached shape first then against the scene.
204 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
205 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
206 \param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
207 \return True if a blocking hit was found.
208
209 @see PxSceneQueryFlags PxSweepHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
210 */
211 static bool sweepSingle(const PxScene& scene,
212 const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
213 PxSceneQueryFlags outputFlags,
214 PxSweepHit& hit,
215 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
216 PxSceneQueryFilterCallback* filterCall = NULL,
217 const PxSceneQueryCache* cache = NULL,
218 PxReal inflation=0.0f);
219
220 /**
221 \brief Sweep returning multiple results.
222
223 Find all rigid actors that get hit along the sweep. Each result contains data as specified by the outputFlags field.
224
225 \note Touching hits are not ordered.
226
227 \note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.
228
229 \param[in] scene The scene
230 \param[in] geometry Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
231 \param[in] pose Pose of the sweep object.
232 \param[in] unitDir Normalized direction of the sweep.
233 \param[in] distance Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
234 \param[in] outputFlags Specifies which properties should be written to the hit information.
235 \param[out] hitBuffer Sweep hit information buffer. If the buffer overflows, the blocking hit is returned as the last entry together with an arbitrary subset
236 of the nearer touching hits (typically the query should be restarted with a larger buffer).
237 \param[in] hitBufferSize Size of the hit buffer.
238 \param[out] blockingHit True if a blocking hit was found. If found, it is the last in the buffer, preceded by any touching hits which are closer. Otherwise the touching hits are listed.
239 \param[in] filterData Filtering data and simple logic.
240 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be touching.
241 \param[in] cache Cached hit shape (optional). Sweep is performed against cached shape first then against the scene.
242 Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
243 Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
244 \param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
245 \return Number of hits in the buffer, or -1 if the buffer overflowed.
246
247 @see PxSceneQueryFlags PxSweepHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
248 */
249 static PxI32 sweepMultiple( const PxScene& scene,
250 const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
251 PxSceneQueryFlags outputFlags, PxSweepHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
252 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
253 PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL,
254 PxReal inflation = 0.0f);
255
256 /**
257 \brief Test overlap between a geometry and objects in the scene.
258
259 \note Filtering: Overlap tests do not distinguish between touching and blocking hit types. Both get written to the hit buffer.
260
261 \note PxHitFlag::eMESH_MULTIPLE and PxHitFlag::eMESH_BOTH_SIDES have no effect in this case
262
263 \param[in] scene The scene
264 \param[in] geometry Geometry of object to check for overlap (supported types are: box, sphere, capsule, convex).
265 \param[in] pose Pose of the object.
266 \param[out] hitBuffer Buffer to store the overlapping objects to. If the buffer overflows, an arbitrary subset of overlapping objects is stored (typically the query should be restarted with a larger buffer).
267 \param[in] hitBufferSize Size of the hit buffer.
268 \param[in] filterData Filtering data and simple logic.
269 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to overlap.
270 \return Number of hits in the buffer, or -1 if the buffer overflowed.
271
272 @see PxSceneQueryFlags PxSceneQueryFilterData PxSceneQueryFilterCallback
273 */
274 static PxI32 overlapMultiple( const PxScene& scene,
275 const PxGeometry& geometry, const PxTransform& pose,
276 PxOverlapHit* hitBuffer, PxU32 hitBufferSize,
277 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
278 PxSceneQueryFilterCallback* filterCall = NULL);
279
280 /**
281 \brief Test returning, for a given geometry, any overlapping object in the scene.
282
283 \note Filtering: Overlap tests do not distinguish between touching and blocking hit types. Both trigger a hit.
284
285 \note PxHitFlag::eMESH_MULTIPLE and PxHitFlag::eMESH_BOTH_SIDES have no effect in this case
286
287 \param[in] scene The scene
288 \param[in] geometry Geometry of object to check for overlap (supported types are: box, sphere, capsule, convex).
289 \param[in] pose Pose of the object.
290 \param[out] hit Pointer to store the overlapping object to.
291 \param[in] filterData Filtering data and simple logic.
292 \param[in] filterCall Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to overlap.
293 \return True if an overlap was found.
294
295 @see PxSceneQueryFlags PxSceneQueryFilterData PxSceneQueryFilterCallback
296 */
297 static bool overlapAny( const PxScene& scene,
298 const PxGeometry& geometry, const PxTransform& pose,
299 PxOverlapHit& hit,
300 const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
301 PxSceneQueryFilterCallback* filterCall = NULL);
302};
303
304#if !PX_DOXYGEN
305} // namespace physx
306#endif
307
308/** @} */
309#endif
310

source code of qtquick3dphysics/src/3rdparty/PhysX/include/extensions/PxSceneQueryExt.h