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RaycastBuffer release+RaycastWithHitBuffer

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bloeys
2022-02-19 06:33:50 +04:00
parent 2abb66ec14
commit fa291d4e4c
5 changed files with 99 additions and 50 deletions
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67
pgo/physx-c/CPxRaycastBuffer.h Executable file
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@ -0,0 +1,67 @@
#ifndef CPxRaycastBuffer_H
#define CPxRaycastBuffer_H
#include "CPxVec3.h"
#include "CPxShape.h"
#include "CPxRigidActor.h"
#ifdef __cplusplus
extern "C" {
#endif
enum CPxHitFlag
{
CPxHitFlag_ePOSITION = (1 << 0), //!< "position" member of #PxQueryHit is valid
CPxHitFlag_eNORMAL = (1 << 1), //!< "normal" member of #PxQueryHit is valid
CPxHitFlag_eUV = (1 << 3), //!< "u" and "v" barycentric coordinates of #PxQueryHit are valid. Not applicable to sweep queries.
CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP = (1 << 4), //!< Performance hint flag for sweeps when it is known upfront there's no initial overlap.
//!< NOTE: using this flag may cause undefined results if shapes are initially overlapping.
CPxHitFlag_eMESH_MULTIPLE = (1 << 5), //!< Report all hits for meshes rather than just the first. Not applicable to sweep queries.
CPxHitFlag_eMESH_ANY = (1 << 6), //!< Report any first hit for meshes. If neither eMESH_MULTIPLE nor eMESH_ANY is specified,
//!< a single closest hit will be reported for meshes.
CPxHitFlag_eMESH_BOTH_SIDES = (1 << 7), //!< Report hits with back faces of mesh triangles. Also report hits for raycast
//!< originating on mesh surface and facing away from the surface normal. Not applicable to sweep queries.
//!< Please refer to the user guide for heightfield-specific differences.
CPxHitFlag_ePRECISE_SWEEP = (1 << 8), //!< Use more accurate but slower narrow phase sweep tests.
//!< May provide better compatibility with PhysX 3.2 sweep behavior.
CPxHitFlag_eMTD = (1 << 9), //!< Report the minimum translation depth, normal and contact point.
CPxHitFlag_eFACE_INDEX = (1 << 10), //!< "face index" member of #PxQueryHit is valid
CPxHitFlag_eDEFAULT = CPxHitFlag_ePOSITION | CPxHitFlag_eNORMAL | CPxHitFlag_eFACE_INDEX,
/** \brief Only this subset of flags can be modified by pre-filter. Other modifications will be discarded. */
CPxHitFlag_eMODIFIABLE_FLAGS = CPxHitFlag_eMESH_MULTIPLE | CPxHitFlag_eMESH_BOTH_SIDES | CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP | CPxHitFlag_ePRECISE_SWEEP
};
struct CPxRaycastHit
{
CENUM CPxHitFlag flags; //!< Hit flags specifying which members contain valid values.
CSTRUCT CPxVec3 position; //!< World-space hit position (flag: #PxHitFlag::ePOSITION)
CSTRUCT CPxVec3 normal; //!< World-space hit normal (flag: #PxHitFlag::eNORMAL)
/**
\brief Distance to hit.
\note If the eMTD flag is used, distance will be a negative value if shapes are overlapping indicating the penetration depth.
\note Otherwise, this value will be >= 0 */
CPxF32 distance;
CPxReal u, v;
CPxU32 faceIndex;
CSTRUCT CPxShape shape;
CSTRUCT CPxRigidActor actor;
};
struct CPxRaycastBuffer
{
CSTRUCT CPxRaycastHit block;
CSTRUCT CPxRaycastHit* touches;
CPxU32 nbTouches;
bool hasBlock;
};
CPxAPI CSTRUCT CPxRaycastBuffer* NewCPxRaycastBufferWithAlloc(CPxU32 maxTouches);
CPxAPI void CPxRaycastBuffer_release(CSTRUCT CPxRaycastBuffer* crb);
#ifdef __cplusplus
}
#endif
#endif // !CPxRaycastBuffer_H

54
pgo/physx-c/CPxScene.h
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@ -6,58 +6,12 @@
#include "CPxVec3.h"
#include "CPxShape.h"
#include "CPxRigidActor.h"
#include "CPxRaycastBuffer.h"
#ifdef __cplusplus
extern "C" {
#endif
enum CPxHitFlag
{
CPxHitFlag_ePOSITION = (1 << 0), //!< "position" member of #PxQueryHit is valid
CPxHitFlag_eNORMAL = (1 << 1), //!< "normal" member of #PxQueryHit is valid
CPxHitFlag_eUV = (1 << 3), //!< "u" and "v" barycentric coordinates of #PxQueryHit are valid. Not applicable to sweep queries.
CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP = (1 << 4), //!< Performance hint flag for sweeps when it is known upfront there's no initial overlap.
//!< NOTE: using this flag may cause undefined results if shapes are initially overlapping.
CPxHitFlag_eMESH_MULTIPLE = (1 << 5), //!< Report all hits for meshes rather than just the first. Not applicable to sweep queries.
CPxHitFlag_eMESH_ANY = (1 << 6), //!< Report any first hit for meshes. If neither eMESH_MULTIPLE nor eMESH_ANY is specified,
//!< a single closest hit will be reported for meshes.
CPxHitFlag_eMESH_BOTH_SIDES = (1 << 7), //!< Report hits with back faces of mesh triangles. Also report hits for raycast
//!< originating on mesh surface and facing away from the surface normal. Not applicable to sweep queries.
//!< Please refer to the user guide for heightfield-specific differences.
CPxHitFlag_ePRECISE_SWEEP = (1 << 8), //!< Use more accurate but slower narrow phase sweep tests.
//!< May provide better compatibility with PhysX 3.2 sweep behavior.
CPxHitFlag_eMTD = (1 << 9), //!< Report the minimum translation depth, normal and contact point.
CPxHitFlag_eFACE_INDEX = (1 << 10), //!< "face index" member of #PxQueryHit is valid
CPxHitFlag_eDEFAULT = CPxHitFlag_ePOSITION | CPxHitFlag_eNORMAL | CPxHitFlag_eFACE_INDEX,
/** \brief Only this subset of flags can be modified by pre-filter. Other modifications will be discarded. */
CPxHitFlag_eMODIFIABLE_FLAGS = CPxHitFlag_eMESH_MULTIPLE | CPxHitFlag_eMESH_BOTH_SIDES | CPxHitFlag_eASSUME_NO_INITIAL_OVERLAP | CPxHitFlag_ePRECISE_SWEEP
};
struct CPxRaycastHit
{
CENUM CPxHitFlag flags; //!< Hit flags specifying which members contain valid values.
CSTRUCT CPxVec3 position; //!< World-space hit position (flag: #PxHitFlag::ePOSITION)
CSTRUCT CPxVec3 normal; //!< World-space hit normal (flag: #PxHitFlag::eNORMAL)
/**
\brief Distance to hit.
\note If the eMTD flag is used, distance will be a negative value if shapes are overlapping indicating the penetration depth.
\note Otherwise, this value will be >= 0 */
CPxF32 distance;
CPxReal u, v;
CPxU32 faceIndex;
CSTRUCT CPxShape shape;
CSTRUCT CPxRigidActor actor;
};
struct CPxRaycastBuffer
{
CSTRUCT CPxRaycastHit block;
CSTRUCT CPxRaycastHit* touches;
CPxU32 nbTouches;
bool hasBlock;
};
struct CPxScene
{
void* obj;
@ -72,8 +26,14 @@ extern "C" {
CPxAPI bool CPxScene_fetchCollision(CSTRUCT CPxScene*, bool block);
CPxAPI void CPxScene_advance(CSTRUCT CPxScene*);
CPxAPI bool CPxScene_fetchResults(CSTRUCT CPxScene*, bool block, CPxU32* errorState);
//Does a scene raycast. Allocates memory for hitRet and then reads data into it. It is the callers responsibility to free.
CPxAPI bool CPxScene_raycast(CSTRUCT CPxScene* cs, CSTRUCT CPxVec3* origin, CSTRUCT CPxVec3* unitDir, CPxReal distance, CSTRUCT CPxRaycastBuffer** hitRet);
//Does a scene raycast. 'hit' must be pre-allocated as NO new allocation will happen in the function.
//hit->touches will be filled up to 'touchesToRead' and must also be pre-allocated. If the hit produces more touches than 'touchesToRead' then the additional touches will be ignored.
CPxAPI bool CPxScene_raycastWithHitBuffer(CSTRUCT CPxScene* cs, CSTRUCT CPxVec3* origin, CSTRUCT CPxVec3* unitDir, CPxReal distance, CSTRUCT CPxRaycastBuffer* hit, CPxU32 touchesToRead);
/// <summary>
/// Creates a scratch buffer thats a multiple of 16K to be used by the scene when running CPxScene_simulate.
/// The buffer MUST be 16-byte aligned. If a buffer already exists then it is freed and a new one is allocated.