PxQueryReport.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_NX_SCENEQUERYREPORT
#define PX_PHYSICS_NX_SCENEQUERYREPORT

#include "PxPhysXConfig.h"
#include "foundation/PxVec3.h"
#include "foundation/PxFlags.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxShape;
class PxRigidActor;

struct PxHitFlag
{
    enum Enum
    {
        ePOSITION                   = (1<<0),   
        eIMPACT                     = ePOSITION,
        eNORMAL                     = (1<<1),   
        eDISTANCE                   = (1<<2),   
        eUV                         = (1<<3),   
        eASSUME_NO_INITIAL_OVERLAP  = (1<<4),   

        eMESH_MULTIPLE              = (1<<5),   

        eMESH_ANY                   = (1<<6),   

        eMESH_BOTH_SIDES            = (1<<7),   


        ePRECISE_SWEEP              = (1<<8),   

        eMTD                        = (1<<9),   
        eDIRECT_SWEEP               = ePRECISE_SWEEP, 

        eDEFAULT                    = ePOSITION|eNORMAL|eDISTANCE,

        eMODIFIABLE_FLAGS           = eMESH_MULTIPLE|eMESH_BOTH_SIDES|eASSUME_NO_INITIAL_OVERLAP|ePRECISE_SWEEP
    };
};


PX_FLAGS_TYPEDEF(PxHitFlag, PxU16)


#define PxSceneQueryFlag PxHitFlag // PX_DEPRECATED

#define PxSceneQueryFlags PxHitFlags // PX_DEPRECATED

struct PxActorShape
{
    PX_INLINE PxActorShape() : actor(NULL), shape(NULL) {}
    PX_INLINE PxActorShape(PxRigidActor* a, PxShape* s) : actor(a), shape(s) {}

    PxRigidActor*   actor;
    PxShape*        shape;
};


struct PxQueryHit : PxActorShape
{
    PX_INLINE           PxQueryHit() : faceIndex(0xFFFFffff) {}

    PxU32               faceIndex;
};

#define PxSceneQueryHit PxQueryHit

struct PxLocationHit : public PxQueryHit
{
    PX_INLINE           PxLocationHit() : flags(0), position(PxVec3(0)), normal(PxVec3(0)), distance(PX_MAX_REAL)   {}

    PX_INLINE bool      hadInitialOverlap() const { return (distance <= 0.0f); }

    // the following fields are set in accordance with the #PxHitFlags
    PxHitFlags          flags;      
    PxVec3              position;   

    PxVec3              normal;     

    PxF32               distance;
};


struct PxRaycastHit : public PxLocationHit
{
    PX_INLINE           PxRaycastHit() : u(0.0f), v(0.0f)   {}

    // the following fields are set in accordance with the #PxHitFlags

    PxReal  u, v;           
#if !defined(PX_P64)
    PxU32   padTo16Bytes[3];
#endif
};


struct PxOverlapHit: public PxQueryHit { PxU32 padTo16Bytes; };


struct PxSweepHit : public PxLocationHit
{
    PX_INLINE           PxSweepHit() {}

    PxU32               padTo16Bytes;
};


typedef bool PxAgain;


template<typename HitType>
struct PxHitCallback
{
    HitType     block;          //<! Holds the closest blocking hit result for the query. Invalid if hasBlock is false.
    bool        hasBlock;       //<! Set to true if there was a blocking hit during query.

    HitType*    touches;        //<! User specified buffer for touching hits.

    PxU32       maxNbTouches;

    PxU32       nbTouches;

    PxHitCallback(HitType* aTouches, PxU32 aMaxNbTouches)
        : hasBlock(false), touches(aTouches), maxNbTouches(aMaxNbTouches), nbTouches(0)
    {}

    virtual PxAgain processTouches(const HitType* buffer, PxU32 nbHits) = 0;

    virtual void finalizeQuery() {} //<! Query finalization callback, called after the last processTouches callback.

    virtual ~PxHitCallback() {}

    PX_FORCE_INLINE bool hasAnyHits() { return (hasBlock || (nbTouches > 0)); }
};


template<typename HitType>
struct PxHitBuffer : public PxHitCallback<HitType>
{
    PxHitBuffer(HitType* aTouches = NULL, PxU32 aMaxNbTouches = 0) : PxHitCallback<HitType>(aTouches, aMaxNbTouches) {}

    PX_INLINE PxU32             getNbAnyHits() const                { return getNbTouches() + PxU32(this->hasBlock); }
    PX_INLINE const HitType&    getAnyHit(const PxU32 index) const  { PX_ASSERT(index < getNbTouches() + PxU32(this->hasBlock));
                                                                        return index < getNbTouches() ? getTouches()[index] : this->block; }

    PX_INLINE PxU32             getNbTouches() const                { return this->nbTouches; }
    PX_INLINE const HitType*    getTouches() const                  { return this->touches; }
    PX_INLINE const HitType&    getTouch(const PxU32 index) const   { PX_ASSERT(index < getNbTouches()); return getTouches()[index]; }
    PX_INLINE PxU32             getMaxNbTouches() const             { return this->maxNbTouches; }

    virtual ~PxHitBuffer() {}

protected:
    // stops after the first callback
    virtual PxAgain processTouches(const HitType* buffer, PxU32 nbHits) { PX_UNUSED(buffer); PX_UNUSED(nbHits); return false; }
};


typedef PxHitCallback<PxRaycastHit> PxRaycastCallback;

typedef PxHitCallback<PxOverlapHit> PxOverlapCallback;

typedef PxHitCallback<PxSweepHit> PxSweepCallback;

typedef PxHitBuffer<PxRaycastHit> PxRaycastBuffer;

typedef PxHitBuffer<PxOverlapHit> PxOverlapBuffer;

typedef PxHitBuffer<PxSweepHit> PxSweepBuffer;

template <int N>
struct PxRaycastBufferN : PxHitBuffer<PxRaycastHit>
{
    PxRaycastHit hits[N];
    PxRaycastBufferN() : PxHitBuffer<PxRaycastHit>(hits, N) {}
};

template <int N>
struct PxOverlapBufferN : PxHitBuffer<PxOverlapHit>
{
    PxOverlapHit hits[N];
    PxOverlapBufferN() : PxHitBuffer<PxOverlapHit>(hits, N) {}
};

template <int N>
struct PxSweepBufferN : PxHitBuffer<PxSweepHit>
{
    PxSweepHit hits[N];
    PxSweepBufferN() : PxHitBuffer<PxSweepHit>(hits, N) {}
};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif