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00031 #ifndef PX_PHYSICS_NX_SCENE
00032 #define PX_PHYSICS_NX_SCENE
00033
00037 #include "PxVisualizationParameter.h"
00038 #include "PxSceneDesc.h"
00039 #include "PxSimulationStatistics.h"
00040 #include "PxQueryReport.h"
00041 #include "PxQueryFiltering.h"
00042 #include "PxClient.h"
00043 #include "task/PxTask.h"
00044
00045 #if PX_USE_PARTICLE_SYSTEM_API
00046 #include "particles/PxParticleSystem.h"
00047 #include "particles/PxParticleFluid.h"
00048 #endif
00049
00050 #include "pvd/PxPvdSceneClient.h"
00051
00052 #if !PX_DOXYGEN
00053 namespace physx
00054 {
00055 #endif
00056
00057 class PxRigidStatic;
00058 class PxRigidDynamic;
00059 class PxConstraint;
00060 class PxMaterial;
00061 class PxSimulationEventCallback;
00062 class PxPhysics;
00063 class PxBatchQueryDesc;
00064 class PxBatchQuery;
00065 class PxAggregate;
00066 class PxRenderBuffer;
00067 class PxVolumeCache;
00068
00069 class PxSphereGeometry;
00070 class PxBoxGeometry;
00071 class PxCapsuleGeometry;
00072
00073 class PxPruningStructure;
00074 struct PxContactPairHeader;
00075
00076 typedef PxU8 PxDominanceGroup;
00077
00078 class PxPvdSceneClient;
00079
00086 struct PX_DEPRECATED PxActiveTransform
00087 {
00088 PxActor* actor;
00089 void* userData;
00090 PxTransform actor2World;
00091 };
00092
00101 struct PxDominanceGroupPair
00102 {
00103 PxDominanceGroupPair(PxU8 a, PxU8 b)
00104 : dominance0(a), dominance1(b) {}
00105 PxU8 dominance0;
00106 PxU8 dominance1;
00107 };
00108
00109
00117 struct PxActorTypeFlag
00118 {
00119 enum Enum
00120 {
00125 eRIGID_STATIC = (1 << 0),
00126
00131 eRIGID_DYNAMIC = (1 << 1),
00132
00133 #if PX_USE_PARTICLE_SYSTEM_API
00134
00139 ePARTICLE_SYSTEM PX_DEPRECATED = (1 << 2),
00140
00146 ePARTICLE_FLUID PX_DEPRECATED = (1 << 3),
00147 #endif
00148
00149 #if PX_USE_CLOTH_API
00150
00155 eCLOTH PX_DEPRECATED = (1 << 5)
00156 #endif
00157 };
00158 };
00159
00165 typedef PxFlags<PxActorTypeFlag::Enum,PxU16> PxActorTypeFlags;
00166 PX_FLAGS_OPERATORS(PxActorTypeFlag::Enum,PxU16)
00167
00168
00186 struct PxQueryCache
00187 {
00191 PX_INLINE PxQueryCache() : shape(NULL), actor(NULL), faceIndex(0xffffffff) {}
00192
00196 PX_INLINE PxQueryCache(PxShape* s, PxU32 findex) : shape(s), actor(NULL), faceIndex(findex) {}
00197
00198 PxShape* shape;
00199 PxRigidActor* actor;
00200 PxU32 faceIndex;
00201 };
00202
00212 class PxScene
00213 {
00214 protected:
00215
00216
00217
00221
00222 PxScene(): userData(0) {}
00223 virtual ~PxScene() {}
00224
00225 public:
00226
00238 virtual void release() = 0;
00239
00247 virtual void setFlag(PxSceneFlag::Enum flag, bool value) = 0;
00248
00256 virtual PxSceneFlags getFlags() const = 0;
00257
00258
00269 virtual void setLimits(const PxSceneLimits& limits) = 0;
00270
00276 virtual PxSceneLimits getLimits() const = 0;
00277
00278
00286 virtual PxPhysics& getPhysics() = 0;
00287
00293 virtual PxU32 getTimestamp() const = 0;
00294
00295
00297
00298
00311 virtual void addArticulation(PxArticulation& articulation) = 0;
00312
00325 virtual void removeArticulation(PxArticulation& articulation, bool wakeOnLostTouch = true) = 0;
00326
00342 virtual void addActor(PxActor& actor) = 0;
00343
00362 virtual void addActors(PxActor*const* actors, PxU32 nbActors) = 0;
00363
00382 virtual void addActors(const PxPruningStructure& pruningStructure) = 0;
00383
00400 virtual void removeActor(PxActor& actor, bool wakeOnLostTouch = true) = 0;
00401
00417 virtual void removeActors(PxActor*const* actors, PxU32 nbActors, bool wakeOnLostTouch = true) = 0;
00418
00431 virtual void addAggregate(PxAggregate& aggregate) = 0;
00432
00445 virtual void removeAggregate(PxAggregate& aggregate, bool wakeOnLostTouch = true) = 0;
00446
00459 virtual void addCollection(const PxCollection& collection) = 0;
00461
00462
00466
00475 virtual PxU32 getNbActors(PxActorTypeFlags types) const = 0;
00476
00488 virtual PxU32 getActors(PxActorTypeFlags types, PxActor** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00489
00506 PX_DEPRECATED virtual const PxActiveTransform*
00507 getActiveTransforms(PxU32& nbTransformsOut, PxClientID client = PX_DEFAULT_CLIENT) = 0;
00508
00509
00528 virtual PxActor** getActiveActors(PxU32& nbActorsOut, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00529
00537 virtual PxU32 getNbArticulations() const = 0;
00538
00549 virtual PxU32 getArticulations(PxArticulation** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00550
00558 virtual PxU32 getNbConstraints() const = 0;
00559
00570 virtual PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00571
00572
00580 virtual PxU32 getNbAggregates() const = 0;
00581
00592 virtual PxU32 getAggregates(PxAggregate** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00593
00595
00596
00600
00651 virtual void setDominanceGroupPair(
00652 PxDominanceGroup group1, PxDominanceGroup group2, const PxDominanceGroupPair& dominance) = 0;
00653
00659 virtual PxDominanceGroupPair getDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2) const = 0;
00660
00662
00663
00667
00673 virtual PxCpuDispatcher* getCpuDispatcher() const = 0;
00674
00682 virtual PxGpuDispatcher* getGpuDispatcher() const = 0;
00683
00685
00698 virtual PxClientID createClient() = 0;
00699
00716 PX_DEPRECATED virtual void setClientBehaviorFlags(PxClientID client, PxClientBehaviorFlags clientBehaviorFlags) = 0;
00717
00725 PX_DEPRECATED virtual PxClientBehaviorFlags getClientBehaviorFlags(PxClientID client) const = 0;
00727
00728
00729 #if PX_USE_CLOTH_API
00730
00731
00732
00750 PX_DEPRECATED virtual void setClothInterCollisionDistance(PxF32 distance) = 0;
00751
00757 PX_DEPRECATED virtual PxF32 getClothInterCollisionDistance() const = 0;
00758
00768 PX_DEPRECATED virtual void setClothInterCollisionStiffness(PxF32 stiffness) = 0;
00774 PX_DEPRECATED virtual PxF32 getClothInterCollisionStiffness() const = 0;
00775
00785 PX_DEPRECATED virtual void setClothInterCollisionNbIterations(PxU32 nbIterations) = 0;
00791 PX_DEPRECATED virtual PxU32 getClothInterCollisionNbIterations() const = 0;
00793
00794 #endif // PX_USE_CLOTH_API
00795
00796
00797
00801
00818 virtual void setSimulationEventCallback(PxSimulationEventCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00819
00830 virtual PxSimulationEventCallback*
00831 getSimulationEventCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) const = 0;
00832
00840 virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
00841
00849 virtual void setCCDContactModifyCallback(PxCCDContactModifyCallback* callback) = 0;
00850
00858 virtual PxContactModifyCallback*
00859 getContactModifyCallback() const = 0;
00860
00868 virtual PxCCDContactModifyCallback*
00869 getCCDContactModifyCallback() const = 0;
00870
00887 virtual void setBroadPhaseCallback(PxBroadPhaseCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00888
00900 virtual PxBroadPhaseCallback* getBroadPhaseCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) const = 0;
00901
00903
00904
00908
00925 virtual void setFilterShaderData(const void* data, PxU32 dataSize) = 0;
00926
00936 virtual const void* getFilterShaderData() const = 0;
00937
00945 virtual PxU32 getFilterShaderDataSize() const = 0;
00946
00954 virtual PxSimulationFilterShader
00955 getFilterShader() const = 0;
00956
00964 virtual PxSimulationFilterCallback*
00965 getFilterCallback() const = 0;
00966
00996 virtual void resetFiltering(PxActor& actor) = 0;
00997
01012 virtual void resetFiltering(PxRigidActor& actor, PxShape*const* shapes, PxU32 shapeCount) = 0;
01013
01015
01016
01051 virtual void simulate(PxReal elapsedTime, physx::PxBaseTask* completionTask = NULL,
01052 void* scratchMemBlock = 0, PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
01053
01054
01065 virtual void advance(physx::PxBaseTask* completionTask = 0) = 0;
01066
01084 virtual void collide(PxReal elapsedTime, physx::PxBaseTask* completionTask = 0, void* scratchMemBlock = 0,
01085 PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
01086
01098 virtual bool checkResults(bool block = false) = 0;
01099
01107 virtual bool fetchCollision(bool block = false) = 0;
01108
01130 virtual bool fetchResults(bool block = false, PxU32* errorState = 0) = 0;
01131
01132
01148 virtual bool fetchResultsStart(const PxContactPairHeader*& contactPairs, PxU32& nbContactPairs, bool block = false) = 0;
01149
01150
01159 virtual void processCallbacks(physx::PxBaseTask* continuation) = 0;
01160
01161
01173 virtual void fetchResultsFinish(PxU32* errorState = 0) = 0;
01174
01175
01186 virtual void flushSimulation(bool sendPendingReports = false) = 0;
01187
01197 virtual void setGravity(const PxVec3& vec) = 0;
01198
01206 virtual PxVec3 getGravity() const = 0;
01207
01213 virtual void setBounceThresholdVelocity(const PxReal t) = 0;
01214
01220 virtual PxReal getBounceThresholdVelocity() const = 0;
01221
01222
01231 virtual void setCCDMaxPasses(PxU32 ccdMaxPasses) = 0;
01232
01241 virtual PxU32 getCCDMaxPasses() const = 0;
01242
01248 virtual PxReal getFrictionOffsetThreshold() const = 0;
01249
01254 virtual void setFrictionType(PxFrictionType::Enum frictionType) = 0;
01255
01260 virtual PxFrictionType::Enum getFrictionType() const = 0;
01261
01263
01264
01279 virtual bool setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value) = 0;
01280
01289 virtual PxReal getVisualizationParameter(PxVisualizationParameter::Enum paramEnum) const = 0;
01290
01291
01298 virtual void setVisualizationCullingBox(const PxBounds3& box) = 0;
01299
01306 virtual PxBounds3 getVisualizationCullingBox() const = 0;
01307
01319 virtual const PxRenderBuffer& getRenderBuffer() = 0;
01320
01330 virtual void getSimulationStatistics(PxSimulationStatistics& stats) const = 0;
01331
01332
01334
01335
01339
01345 virtual PxPruningStructureType::Enum getStaticStructure() const = 0;
01346
01352 virtual PxPruningStructureType::Enum getDynamicStructure() const = 0;
01353
01369 virtual void flushQueryUpdates() = 0;
01370
01382 PX_DEPRECATED virtual PxBatchQuery* createBatchQuery(const PxBatchQueryDesc& desc) = 0;
01383
01391 PX_DEPRECATED virtual PxVolumeCache* createVolumeCache(PxU32 maxStaticShapes = 32, PxU32 maxDynamicShapes = 8) = 0;
01392
01400 virtual void setDynamicTreeRebuildRateHint(PxU32 dynamicTreeRebuildRateHint) = 0;
01401
01409 virtual PxU32 getDynamicTreeRebuildRateHint() const = 0;
01410
01419 virtual void forceDynamicTreeRebuild(bool rebuildStaticStructure, bool rebuildDynamicStructure) = 0;
01420
01428 virtual void setSceneQueryUpdateMode(PxSceneQueryUpdateMode::Enum updateMode) = 0;
01429
01437 virtual PxSceneQueryUpdateMode::Enum getSceneQueryUpdateMode() const = 0;
01438
01456 virtual void sceneQueriesUpdate(physx::PxBaseTask* completionTask = NULL, bool controlSimulation = true) = 0;
01457
01469 virtual bool checkQueries(bool block = false) = 0;
01470
01480 virtual bool fetchQueries(bool block = false) = 0;
01481
01504 virtual bool raycast(
01505 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
01506 PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01507 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01508 const PxQueryCache* cache = NULL) const = 0;
01509
01537 virtual bool sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
01538 PxSweepCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01539 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01540 const PxQueryCache* cache = NULL, const PxReal inflation = 0.f) const = 0;
01541
01542
01562 virtual bool overlap(const PxGeometry& geometry, const PxTransform& pose, PxOverlapCallback& hitCall,
01563 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL
01564 ) const = 0;
01565
01566
01573 virtual PxU32 getSceneQueryStaticTimestamp() const = 0;
01575
01576
01580
01586 virtual PxBroadPhaseType::Enum getBroadPhaseType() const = 0;
01587
01594 virtual bool getBroadPhaseCaps(PxBroadPhaseCaps& caps) const = 0;
01595
01601 virtual PxU32 getNbBroadPhaseRegions() const = 0;
01602
01611 virtual PxU32 getBroadPhaseRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
01612
01629 virtual PxU32 addBroadPhaseRegion(const PxBroadPhaseRegion& region, bool populateRegion=false) = 0;
01630
01644 virtual bool removeBroadPhaseRegion(PxU32 handle) = 0;
01645
01647
01648
01649
01653
01659 virtual PxTaskManager* getTaskManager() const = 0;
01660
01661
01680 virtual void lockRead(const char* file=NULL, PxU32 line=0) = 0;
01681
01687 virtual void unlockRead() = 0;
01688
01714 virtual void lockWrite(const char* file=NULL, PxU32 line=0) = 0;
01715
01721 virtual void unlockWrite() = 0;
01722
01723
01737 virtual void setNbContactDataBlocks(PxU32 numBlocks) = 0;
01738
01739
01749 virtual PxU32 getNbContactDataBlocksUsed() const = 0;
01750
01760 virtual PxU32 getMaxNbContactDataBlocksUsed() const = 0;
01761
01762
01768 virtual PxU32 getContactReportStreamBufferSize() const = 0;
01769
01770
01778 virtual void setSolverBatchSize(PxU32 solverBatchSize) = 0;
01779
01787 virtual PxU32 getSolverBatchSize() const = 0;
01788
01789
01791
01799 virtual PxReal getWakeCounterResetValue() const = 0;
01800
01817 virtual void shiftOrigin(const PxVec3& shift) = 0;
01818
01823 virtual PxPvdSceneClient* getScenePvdClient() = 0;
01824
01825 void* userData;
01826 };
01827
01828 #if !PX_DOXYGEN
01829 }
01830 #endif
01831
01833 #endif
