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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_BVH_STRUCTURE |
32 | #define PX_PHYSICS_BVH_STRUCTURE |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | |
37 | #include "common/PxBase.h" |
38 | #include "foundation/PxTransform.h" |
39 | #include "foundation/PxBounds3.h" |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | /** |
47 | \brief Class representing the bounding volume hierarchy structure. |
48 | |
49 | PxBVHStructure can be provided to PxScene::addActor. In this case the scene query |
50 | pruning structure inside PhysX SDK will store/update one bound per actor. |
51 | The scene queries against such an actor will query actor bounds and then |
52 | make a local space query against the provided BVH structure, which is in |
53 | actor's local space. |
54 | |
55 | @see PxScene::addActor |
56 | */ |
57 | class PxBVHStructure: public PxBase |
58 | { |
59 | public: |
60 | |
61 | /** |
62 | \brief Raycast test against a BVH structure. |
63 | |
64 | \param[in] origin The origin of the ray. |
65 | \param[in] unitDir Normalized direction of the ray. |
66 | \param[in] maxDist Maximum ray length, has to be in the [0, inf) range |
67 | \param[in] maxHits Max number of returned hits = size of 'rayHits' buffer |
68 | \param[out] rayHits Raycast hits information, bounds indices |
69 | \return Number of hits |
70 | */ |
71 | virtual PxU32 raycast(const PxVec3& origin, |
72 | const PxVec3& unitDir, |
73 | PxReal maxDist, |
74 | PxU32 maxHits, |
75 | PxU32* PX_RESTRICT rayHits) const = 0; |
76 | |
77 | /** |
78 | \brief Sweep test against a BVH structure. |
79 | |
80 | \param[in] aabb The axis aligned bounding box to sweep |
81 | \param[in] unitDir Normalized direction of the sweep. |
82 | \param[in] maxDist Maximum sweep length, has to be in the [0, inf) range |
83 | \param[in] maxHits Max number of returned hits = size of 'sweepHits' buffer |
84 | \param[out] sweepHits Sweep hits information, bounds indices |
85 | \return Number of hits |
86 | */ |
87 | virtual PxU32 sweep(const PxBounds3& aabb, |
88 | const PxVec3& unitDir, |
89 | PxReal maxDist, |
90 | PxU32 maxHits, |
91 | PxU32* PX_RESTRICT sweepHits) const = 0; |
92 | |
93 | /** |
94 | \brief AABB overlap test against a BVH structure. |
95 | |
96 | \param[in] aabb The axis aligned bounding box |
97 | \param[in] maxHits Max number of returned hits = size of 'overlapHits' buffer |
98 | \param[out] overlapHits Overlap hits information, bounds indices |
99 | \return Number of hits |
100 | */ |
101 | virtual PxU32 overlap(const PxBounds3& aabb, |
102 | PxU32 maxHits, |
103 | PxU32* PX_RESTRICT overlapHits) const = 0; |
104 | |
105 | /** |
106 | \brief Retrieve the bounds in the BVH. |
107 | |
108 | @see PxBounds3 |
109 | */ |
110 | virtual const PxBounds3* getBounds() const = 0; |
111 | |
112 | /** |
113 | \brief Returns the number of bounds in the BVH. |
114 | |
115 | You can use #getBounds() to retrieve the bounds. |
116 | |
117 | \return Number of bounds in the BVH. |
118 | |
119 | */ |
120 | virtual PxU32 getNbBounds() const = 0; |
121 | |
122 | virtual const char* getConcreteTypeName() const { return "PxBVHStructure" ; } |
123 | protected: |
124 | PX_INLINE PxBVHStructure(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {} |
125 | PX_INLINE PxBVHStructure(PxBaseFlags baseFlags) : PxBase(baseFlags) {} |
126 | virtual ~PxBVHStructure() {} |
127 | |
128 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxBVHStructure" , s2: name) || PxBase::isKindOf(superClass: name); } |
129 | |
130 | }; |
131 | |
132 | |
133 | #if !PX_DOXYGEN |
134 | } // namespace physx |
135 | #endif |
136 | |
137 | /** @} */ |
138 | #endif |
139 | |