00001 // 00002 // Redistribution and use in source and binary forms, with or without 00003 // modification, are permitted provided that the following conditions 00004 // are met: 00005 // * Redistributions of source code must retain the above copyright 00006 // notice, this list of conditions and the following disclaimer. 00007 // * Redistributions in binary form must reproduce the above copyright 00008 // notice, this list of conditions and the following disclaimer in the 00009 // documentation and/or other materials provided with the distribution. 00010 // * Neither the name of NVIDIA CORPORATION nor the names of its 00011 // contributors may be used to endorse or promote products derived 00012 // from this software without specific prior written permission. 00013 // 00014 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY 00015 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00016 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00017 // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 00018 // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00019 // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00020 // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00021 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY 00022 // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00023 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00024 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 // 00026 // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. 00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. 00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. 00029 00030 #ifndef PX_PHYSICS_CCT_OBSTACLES 00031 #define PX_PHYSICS_CCT_OBSTACLES 00032 00036 #include "characterkinematic/PxCharacter.h" 00037 #include "characterkinematic/PxExtended.h" 00038 #include "geometry/PxGeometry.h" 00039 00040 #if !PX_DOXYGEN 00041 namespace physx 00042 { 00043 #endif 00044 00045 class PxControllerManager; 00046 00047 #define INVALID_OBSTACLE_HANDLE 0xffffffff 00048 00054 class PxObstacle 00055 { 00056 protected: 00057 PxObstacle() : 00058 mType (PxGeometryType::eINVALID), 00059 mUserData (NULL), 00060 mPos (0.0, 0.0, 0.0), 00061 mRot (PxQuat(PxIdentity)) 00062 {} 00063 00064 PxGeometryType::Enum mType; 00065 public: 00066 00067 PX_FORCE_INLINE PxGeometryType::Enum getType() const { return mType; } 00068 00069 void* mUserData; 00070 PxExtendedVec3 mPos; 00071 PxQuat mRot; 00072 }; 00073 00079 class PxBoxObstacle : public PxObstacle 00080 { 00081 public: 00082 PxBoxObstacle() : 00083 mHalfExtents(0.0f) 00084 { mType = PxGeometryType::eBOX; } 00085 00086 PxVec3 mHalfExtents; 00087 }; 00088 00094 class PxCapsuleObstacle : public PxObstacle 00095 { 00096 public: 00097 PxCapsuleObstacle() : 00098 mHalfHeight (0.0f), 00099 mRadius (0.0f) 00100 { mType = PxGeometryType::eCAPSULE; } 00101 00102 PxReal mHalfHeight; 00103 PxReal mRadius; 00104 }; 00105 00106 typedef PxU32 ObstacleHandle; 00107 00115 class PxObstacleContext 00116 { 00117 public: 00118 PxObstacleContext() {} 00119 virtual ~PxObstacleContext() {} 00120 00124 virtual void release() = 0; 00125 00131 virtual PxControllerManager& getControllerManager() const = 0; 00132 00140 virtual ObstacleHandle addObstacle(const PxObstacle& obstacle) = 0; 00141 00149 virtual bool removeObstacle(ObstacleHandle handle) = 0; 00150 00159 virtual bool updateObstacle(ObstacleHandle handle, const PxObstacle& obstacle) = 0; 00160 00166 virtual PxU32 getNbObstacles() const = 0; 00167 00175 virtual const PxObstacle* getObstacle(PxU32 i) const = 0; 00176 00184 virtual const PxObstacle* getObstacleByHandle(ObstacleHandle handle) const = 0; 00185 }; 00186 00187 #if !PX_DOXYGEN 00188 } 00189 #endif 00190 00192 #endif