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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 #include "pvd/PxPvdSceneClient.h"
00046
00047 #if !PX_DOXYGEN
00048 namespace physx
00049 {
00050 #endif
00051
00052 class PxRigidStatic;
00053 class PxRigidDynamic;
00054 class PxConstraint;
00055 class PxMaterial;
00056 class PxSimulationEventCallback;
00057 class PxPhysics;
00058 class PxBatchQueryDesc;
00059 class PxBatchQuery;
00060 class PxAggregate;
00061 class PxRenderBuffer;
00062
00063 class PxSphereGeometry;
00064 class PxBoxGeometry;
00065 class PxCapsuleGeometry;
00066
00067 class PxPruningStructure;
00068 class PxBVHStructure;
00069 struct PxContactPairHeader;
00070
00071 typedef PxU8 PxDominanceGroup;
00072
00073 class PxPvdSceneClient;
00074
00083 struct PxDominanceGroupPair
00084 {
00085 PxDominanceGroupPair(PxU8 a, PxU8 b)
00086 : dominance0(a), dominance1(b) {}
00087 PxU8 dominance0;
00088 PxU8 dominance1;
00089 };
00090
00091
00099 struct PxActorTypeFlag
00100 {
00101 enum Enum
00102 {
00107 eRIGID_STATIC = (1 << 0),
00108
00113 eRIGID_DYNAMIC = (1 << 1)
00114 };
00115 };
00116
00122 typedef PxFlags<PxActorTypeFlag::Enum,PxU16> PxActorTypeFlags;
00123 PX_FLAGS_OPERATORS(PxActorTypeFlag::Enum,PxU16)
00124
00125
00143 struct PxQueryCache
00144 {
00148 PX_INLINE PxQueryCache() : shape(NULL), actor(NULL), faceIndex(0xffffffff) {}
00149
00153 PX_INLINE PxQueryCache(PxShape* s, PxU32 findex) : shape(s), actor(NULL), faceIndex(findex) {}
00154
00155 PxShape* shape;
00156 PxRigidActor* actor;
00157 PxU32 faceIndex;
00158 };
00159
00169 class PxScene
00170 {
00171 protected:
00172
00173
00174
00178
00179 PxScene(): userData(0) {}
00180 virtual ~PxScene() {}
00181
00182 public:
00183
00195 virtual void release() = 0;
00196
00204 virtual void setFlag(PxSceneFlag::Enum flag, bool value) = 0;
00205
00213 virtual PxSceneFlags getFlags() const = 0;
00214
00215
00226 virtual void setLimits(const PxSceneLimits& limits) = 0;
00227
00233 virtual PxSceneLimits getLimits() const = 0;
00234
00235
00243 virtual PxPhysics& getPhysics() = 0;
00244
00250 virtual PxU32 getTimestamp() const = 0;
00251
00252
00254
00255
00268 virtual void addArticulation(PxArticulationBase& articulation) = 0;
00269
00282 virtual void removeArticulation(PxArticulationBase& articulation, bool wakeOnLostTouch = true) = 0;
00283
00284
00286
00287
00288
00311 virtual void addActor(PxActor& actor, const PxBVHStructure* bvhStructure = NULL) = 0;
00312
00331 virtual void addActors(PxActor*const* actors, PxU32 nbActors) = 0;
00332
00351 virtual void addActors(const PxPruningStructure& pruningStructure) = 0;
00352
00369 virtual void removeActor(PxActor& actor, bool wakeOnLostTouch = true) = 0;
00370
00386 virtual void removeActors(PxActor*const* actors, PxU32 nbActors, bool wakeOnLostTouch = true) = 0;
00387
00400 virtual void addAggregate(PxAggregate& aggregate) = 0;
00401
00414 virtual void removeAggregate(PxAggregate& aggregate, bool wakeOnLostTouch = true) = 0;
00415
00428 virtual void addCollection(const PxCollection& collection) = 0;
00430
00431
00435
00444 virtual PxU32 getNbActors(PxActorTypeFlags types) const = 0;
00445
00457 virtual PxU32 getActors(PxActorTypeFlags types, PxActor** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00458
00473 virtual PxActor** getActiveActors(PxU32& nbActorsOut) = 0;
00474
00482 virtual PxU32 getNbArticulations() const = 0;
00483
00494 virtual PxU32 getArticulations(PxArticulationBase** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00495
00503 virtual PxU32 getNbConstraints() const = 0;
00504
00515 virtual PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00516
00517
00525 virtual PxU32 getNbAggregates() const = 0;
00526
00537 virtual PxU32 getAggregates(PxAggregate** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00538
00540
00541
00545
00596 virtual void setDominanceGroupPair(
00597 PxDominanceGroup group1, PxDominanceGroup group2, const PxDominanceGroupPair& dominance) = 0;
00598
00604 virtual PxDominanceGroupPair getDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2) const = 0;
00605
00607
00608
00612
00618 virtual PxCpuDispatcher* getCpuDispatcher() const = 0;
00619
00627 virtual PxGpuDispatcher* getGpuDispatcher() const = 0;
00628
00630
00643 virtual PxClientID createClient() = 0;
00644
00646
00647
00648
00652
00662 virtual void setSimulationEventCallback(PxSimulationEventCallback* callback) = 0;
00663
00671 virtual PxSimulationEventCallback* getSimulationEventCallback() const = 0;
00672
00680 virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
00681
00689 virtual void setCCDContactModifyCallback(PxCCDContactModifyCallback* callback) = 0;
00690
00698 virtual PxContactModifyCallback* getContactModifyCallback() const = 0;
00699
00707 virtual PxCCDContactModifyCallback* getCCDContactModifyCallback() const = 0;
00708
00716 virtual void setBroadPhaseCallback(PxBroadPhaseCallback* callback) = 0;
00717
00725 virtual PxBroadPhaseCallback* getBroadPhaseCallback() const = 0;
00726
00728
00729
00733
00750 virtual void setFilterShaderData(const void* data, PxU32 dataSize) = 0;
00751
00761 virtual const void* getFilterShaderData() const = 0;
00762
00770 virtual PxU32 getFilterShaderDataSize() const = 0;
00771
00779 virtual PxSimulationFilterShader
00780 getFilterShader() const = 0;
00781
00789 virtual PxSimulationFilterCallback*
00790 getFilterCallback() const = 0;
00791
00821 virtual void resetFiltering(PxActor& actor) = 0;
00822
00837 virtual void resetFiltering(PxRigidActor& actor, PxShape*const* shapes, PxU32 shapeCount) = 0;
00838
00840
00841
00876 virtual void simulate(PxReal elapsedTime, physx::PxBaseTask* completionTask = NULL,
00877 void* scratchMemBlock = 0, PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
00878
00879
00890 virtual void advance(physx::PxBaseTask* completionTask = 0) = 0;
00891
00909 virtual void collide(PxReal elapsedTime, physx::PxBaseTask* completionTask = 0, void* scratchMemBlock = 0,
00910 PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
00911
00923 virtual bool checkResults(bool block = false) = 0;
00924
00932 virtual bool fetchCollision(bool block = false) = 0;
00933
00955 virtual bool fetchResults(bool block = false, PxU32* errorState = 0) = 0;
00956
00957
00973 virtual bool fetchResultsStart(const PxContactPairHeader*& contactPairs, PxU32& nbContactPairs, bool block = false) = 0;
00974
00975
00984 virtual void processCallbacks(physx::PxBaseTask* continuation) = 0;
00985
00986
00998 virtual void fetchResultsFinish(PxU32* errorState = 0) = 0;
00999
01000
01011 virtual void flushSimulation(bool sendPendingReports = false) = 0;
01012
01022 virtual void setGravity(const PxVec3& vec) = 0;
01023
01031 virtual PxVec3 getGravity() const = 0;
01032
01038 virtual void setBounceThresholdVelocity(const PxReal t) = 0;
01039
01045 virtual PxReal getBounceThresholdVelocity() const = 0;
01046
01047
01056 virtual void setCCDMaxPasses(PxU32 ccdMaxPasses) = 0;
01057
01066 virtual PxU32 getCCDMaxPasses() const = 0;
01067
01073 virtual PxReal getFrictionOffsetThreshold() const = 0;
01074
01079 virtual void setFrictionType(PxFrictionType::Enum frictionType) = 0;
01080
01085 virtual PxFrictionType::Enum getFrictionType() const = 0;
01086
01088
01089
01104 virtual bool setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value) = 0;
01105
01114 virtual PxReal getVisualizationParameter(PxVisualizationParameter::Enum paramEnum) const = 0;
01115
01116
01123 virtual void setVisualizationCullingBox(const PxBounds3& box) = 0;
01124
01131 virtual PxBounds3 getVisualizationCullingBox() const = 0;
01132
01144 virtual const PxRenderBuffer& getRenderBuffer() = 0;
01145
01155 virtual void getSimulationStatistics(PxSimulationStatistics& stats) const = 0;
01156
01157
01159
01160
01164
01170 virtual PxPruningStructureType::Enum getStaticStructure() const = 0;
01171
01177 virtual PxPruningStructureType::Enum getDynamicStructure() const = 0;
01178
01194 virtual void flushQueryUpdates() = 0;
01195
01207 PX_DEPRECATED virtual PxBatchQuery* createBatchQuery(const PxBatchQueryDesc& desc) = 0;
01208
01216 virtual void setDynamicTreeRebuildRateHint(PxU32 dynamicTreeRebuildRateHint) = 0;
01217
01225 virtual PxU32 getDynamicTreeRebuildRateHint() const = 0;
01226
01235 virtual void forceDynamicTreeRebuild(bool rebuildStaticStructure, bool rebuildDynamicStructure) = 0;
01236
01244 virtual void setSceneQueryUpdateMode(PxSceneQueryUpdateMode::Enum updateMode) = 0;
01245
01253 virtual PxSceneQueryUpdateMode::Enum getSceneQueryUpdateMode() const = 0;
01254
01272 virtual void sceneQueriesUpdate(physx::PxBaseTask* completionTask = NULL, bool controlSimulation = true) = 0;
01273
01285 virtual bool checkQueries(bool block = false) = 0;
01286
01296 virtual bool fetchQueries(bool block = false) = 0;
01297
01320 virtual bool raycast(
01321 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
01322 PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01323 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01324 const PxQueryCache* cache = NULL) const = 0;
01325
01353 virtual bool sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
01354 PxSweepCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01355 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01356 const PxQueryCache* cache = NULL, const PxReal inflation = 0.f) const = 0;
01357
01358
01378 virtual bool overlap(const PxGeometry& geometry, const PxTransform& pose, PxOverlapCallback& hitCall,
01379 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL
01380 ) const = 0;
01381
01382
01389 virtual PxU32 getSceneQueryStaticTimestamp() const = 0;
01391
01392
01396
01402 virtual PxBroadPhaseType::Enum getBroadPhaseType() const = 0;
01403
01410 virtual bool getBroadPhaseCaps(PxBroadPhaseCaps& caps) const = 0;
01411
01417 virtual PxU32 getNbBroadPhaseRegions() const = 0;
01418
01427 virtual PxU32 getBroadPhaseRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
01428
01445 virtual PxU32 addBroadPhaseRegion(const PxBroadPhaseRegion& region, bool populateRegion=false) = 0;
01446
01460 virtual bool removeBroadPhaseRegion(PxU32 handle) = 0;
01461
01463
01464
01465
01469
01475 virtual PxTaskManager* getTaskManager() const = 0;
01476
01477
01496 virtual void lockRead(const char* file=NULL, PxU32 line=0) = 0;
01497
01503 virtual void unlockRead() = 0;
01504
01530 virtual void lockWrite(const char* file=NULL, PxU32 line=0) = 0;
01531
01537 virtual void unlockWrite() = 0;
01538
01539
01553 virtual void setNbContactDataBlocks(PxU32 numBlocks) = 0;
01554
01555
01565 virtual PxU32 getNbContactDataBlocksUsed() const = 0;
01566
01576 virtual PxU32 getMaxNbContactDataBlocksUsed() const = 0;
01577
01578
01584 virtual PxU32 getContactReportStreamBufferSize() const = 0;
01585
01586
01594 virtual void setSolverBatchSize(PxU32 solverBatchSize) = 0;
01595
01603 virtual PxU32 getSolverBatchSize() const = 0;
01604
01605
01607
01615 virtual PxReal getWakeCounterResetValue() const = 0;
01616
01633 virtual void shiftOrigin(const PxVec3& shift) = 0;
01634
01639 virtual PxPvdSceneClient* getScenePvdClient() = 0;
01640
01641 void* userData;
01642 };
01643
01644 #if !PX_DOXYGEN
01645 }
01646 #endif
01647
01649 #endif
