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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
00154 eCLOTH = (1 << 5)
00155 #endif
00156 };
00157 };
00158
00164 typedef PxFlags<PxActorTypeFlag::Enum,PxU16> PxActorTypeFlags;
00165 PX_FLAGS_OPERATORS(PxActorTypeFlag::Enum,PxU16)
00166
00167
00185 struct PxQueryCache
00186 {
00190 PX_INLINE PxQueryCache() : shape(NULL), actor(NULL), faceIndex(0xffffffff) {}
00191
00195 PX_INLINE PxQueryCache(PxShape* s, PxU32 findex) : shape(s), actor(NULL), faceIndex(findex) {}
00196
00197 PxShape* shape;
00198 PxRigidActor* actor;
00199 PxU32 faceIndex;
00200 };
00201
00211 class PxScene
00212 {
00213 protected:
00214
00215
00216
00220
00221 PxScene(): userData(0) {}
00222 virtual ~PxScene() {}
00223
00224 public:
00225
00237 virtual void release() = 0;
00238
00246 virtual void setFlag(PxSceneFlag::Enum flag, bool value) = 0;
00247
00255 virtual PxSceneFlags getFlags() const = 0;
00256
00257
00268 virtual void setLimits(const PxSceneLimits& limits) = 0;
00269
00275 virtual PxSceneLimits getLimits() const = 0;
00276
00277
00285 virtual PxPhysics& getPhysics() = 0;
00286
00292 virtual PxU32 getTimestamp() const = 0;
00293
00294
00296
00297
00310 virtual void addArticulation(PxArticulation& articulation) = 0;
00311
00324 virtual void removeArticulation(PxArticulation& articulation, bool wakeOnLostTouch = true) = 0;
00325
00341 virtual void addActor(PxActor& actor) = 0;
00342
00361 virtual void addActors(PxActor*const* actors, PxU32 nbActors) = 0;
00362
00381 virtual void addActors(const PxPruningStructure& pruningStructure) = 0;
00382
00399 virtual void removeActor(PxActor& actor, bool wakeOnLostTouch = true) = 0;
00400
00416 virtual void removeActors(PxActor*const* actors, PxU32 nbActors, bool wakeOnLostTouch = true) = 0;
00417
00430 virtual void addAggregate(PxAggregate& aggregate) = 0;
00431
00444 virtual void removeAggregate(PxAggregate& aggregate, bool wakeOnLostTouch = true) = 0;
00445
00458 virtual void addCollection(const PxCollection& collection) = 0;
00460
00461
00465
00474 virtual PxU32 getNbActors(PxActorTypeFlags types) const = 0;
00475
00487 virtual PxU32 getActors(PxActorTypeFlags types, PxActor** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00488
00505 PX_DEPRECATED virtual const PxActiveTransform*
00506 getActiveTransforms(PxU32& nbTransformsOut, PxClientID client = PX_DEFAULT_CLIENT) = 0;
00507
00508
00527 virtual PxActor** getActiveActors(PxU32& nbActorsOut, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00528
00536 virtual PxU32 getNbArticulations() const = 0;
00537
00548 virtual PxU32 getArticulations(PxArticulation** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00549
00557 virtual PxU32 getNbConstraints() const = 0;
00558
00569 virtual PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00570
00571
00579 virtual PxU32 getNbAggregates() const = 0;
00580
00591 virtual PxU32 getAggregates(PxAggregate** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
00592
00594
00595
00599
00650 virtual void setDominanceGroupPair(
00651 PxDominanceGroup group1, PxDominanceGroup group2, const PxDominanceGroupPair& dominance) = 0;
00652
00658 virtual PxDominanceGroupPair getDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2) const = 0;
00659
00661
00662
00666
00672 virtual PxCpuDispatcher* getCpuDispatcher() const = 0;
00673
00681 virtual PxGpuDispatcher* getGpuDispatcher() const = 0;
00682
00684
00697 virtual PxClientID createClient() = 0;
00698
00715 PX_DEPRECATED virtual void setClientBehaviorFlags(PxClientID client, PxClientBehaviorFlags clientBehaviorFlags) = 0;
00716
00724 PX_DEPRECATED virtual PxClientBehaviorFlags getClientBehaviorFlags(PxClientID client) const = 0;
00726
00727
00728 #if PX_USE_CLOTH_API
00729
00730
00731
00747 virtual void setClothInterCollisionDistance(PxF32 distance) = 0;
00748
00753 virtual PxF32 getClothInterCollisionDistance() const = 0;
00754
00763 virtual void setClothInterCollisionStiffness(PxF32 stiffness) = 0;
00768 virtual PxF32 getClothInterCollisionStiffness() const = 0;
00769
00778 virtual void setClothInterCollisionNbIterations(PxU32 nbIterations) = 0;
00783 virtual PxU32 getClothInterCollisionNbIterations() const = 0;
00785
00786 #endif // PX_USE_CLOTH_API
00787
00788
00789
00793
00810 virtual void setSimulationEventCallback(PxSimulationEventCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00811
00822 virtual PxSimulationEventCallback*
00823 getSimulationEventCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) const = 0;
00824
00832 virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
00833
00841 virtual void setCCDContactModifyCallback(PxCCDContactModifyCallback* callback) = 0;
00842
00850 virtual PxContactModifyCallback*
00851 getContactModifyCallback() const = 0;
00852
00860 virtual PxCCDContactModifyCallback*
00861 getCCDContactModifyCallback() const = 0;
00862
00879 virtual void setBroadPhaseCallback(PxBroadPhaseCallback* callback, PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) = 0;
00880
00892 virtual PxBroadPhaseCallback* getBroadPhaseCallback(PX_DEPRECATED PxClientID client = PX_DEFAULT_CLIENT) const = 0;
00893
00895
00896
00900
00917 virtual void setFilterShaderData(const void* data, PxU32 dataSize) = 0;
00918
00928 virtual const void* getFilterShaderData() const = 0;
00929
00937 virtual PxU32 getFilterShaderDataSize() const = 0;
00938
00946 virtual PxSimulationFilterShader
00947 getFilterShader() const = 0;
00948
00956 virtual PxSimulationFilterCallback*
00957 getFilterCallback() const = 0;
00958
00988 virtual void resetFiltering(PxActor& actor) = 0;
00989
01004 virtual void resetFiltering(PxRigidActor& actor, PxShape*const* shapes, PxU32 shapeCount) = 0;
01005
01007
01008
01043 virtual void simulate(PxReal elapsedTime, physx::PxBaseTask* completionTask = NULL,
01044 void* scratchMemBlock = 0, PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
01045
01046
01057 virtual void advance(physx::PxBaseTask* completionTask = 0) = 0;
01058
01076 virtual void collide(PxReal elapsedTime, physx::PxBaseTask* completionTask = 0, void* scratchMemBlock = 0,
01077 PxU32 scratchMemBlockSize = 0, bool controlSimulation = true) = 0;
01078
01090 virtual bool checkResults(bool block = false) = 0;
01091
01099 virtual bool fetchCollision(bool block = false) = 0;
01100
01122 virtual bool fetchResults(bool block = false, PxU32* errorState = 0) = 0;
01123
01124
01140 virtual bool fetchResultsStart(const PxContactPairHeader*& contactPairs, PxU32& nbContactPairs, bool block = false) = 0;
01141
01142
01151 virtual void processCallbacks(physx::PxBaseTask* continuation) = 0;
01152
01153
01165 virtual void fetchResultsFinish(PxU32* errorState = 0) = 0;
01166
01167
01178 virtual void flushSimulation(bool sendPendingReports = false) = 0;
01179
01189 virtual void setGravity(const PxVec3& vec) = 0;
01190
01198 virtual PxVec3 getGravity() const = 0;
01199
01205 virtual void setBounceThresholdVelocity(const PxReal t) = 0;
01206
01212 virtual PxReal getBounceThresholdVelocity() const = 0;
01213
01214
01223 virtual void setCCDMaxPasses(PxU32 ccdMaxPasses) = 0;
01224
01233 virtual PxU32 getCCDMaxPasses() const = 0;
01234
01240 virtual PxReal getFrictionOffsetThreshold() const = 0;
01241
01246 virtual void setFrictionType(PxFrictionType::Enum frictionType) = 0;
01247
01252 virtual PxFrictionType::Enum getFrictionType() const = 0;
01253
01255
01256
01271 virtual bool setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value) = 0;
01272
01281 virtual PxReal getVisualizationParameter(PxVisualizationParameter::Enum paramEnum) const = 0;
01282
01283
01290 virtual void setVisualizationCullingBox(const PxBounds3& box) = 0;
01291
01298 virtual PxBounds3 getVisualizationCullingBox() const = 0;
01299
01311 virtual const PxRenderBuffer& getRenderBuffer() = 0;
01312
01322 virtual void getSimulationStatistics(PxSimulationStatistics& stats) const = 0;
01323
01324
01326
01327
01331
01337 virtual PxPruningStructureType::Enum getStaticStructure() const = 0;
01338
01344 virtual PxPruningStructureType::Enum getDynamicStructure() const = 0;
01345
01361 virtual void flushQueryUpdates() = 0;
01362
01374 PX_DEPRECATED virtual PxBatchQuery* createBatchQuery(const PxBatchQueryDesc& desc) = 0;
01375
01383 PX_DEPRECATED virtual PxVolumeCache* createVolumeCache(PxU32 maxStaticShapes = 32, PxU32 maxDynamicShapes = 8) = 0;
01384
01392 virtual void setDynamicTreeRebuildRateHint(PxU32 dynamicTreeRebuildRateHint) = 0;
01393
01401 virtual PxU32 getDynamicTreeRebuildRateHint() const = 0;
01402
01411 virtual void forceDynamicTreeRebuild(bool rebuildStaticStructure, bool rebuildDynamicStructure) = 0;
01412
01435 virtual bool raycast(
01436 const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
01437 PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01438 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01439 const PxQueryCache* cache = NULL) const = 0;
01440
01468 virtual bool sweep(const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
01469 PxSweepCallback& hitCall, PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
01470 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
01471 const PxQueryCache* cache = NULL, const PxReal inflation = 0.f) const = 0;
01472
01473
01493 virtual bool overlap(const PxGeometry& geometry, const PxTransform& pose, PxOverlapCallback& hitCall,
01494 const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL
01495 ) const = 0;
01496
01497
01504 virtual PxU32 getSceneQueryStaticTimestamp() const = 0;
01506
01507
01511
01517 virtual PxBroadPhaseType::Enum getBroadPhaseType() const = 0;
01518
01525 virtual bool getBroadPhaseCaps(PxBroadPhaseCaps& caps) const = 0;
01526
01532 virtual PxU32 getNbBroadPhaseRegions() const = 0;
01533
01542 virtual PxU32 getBroadPhaseRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
01543
01560 virtual PxU32 addBroadPhaseRegion(const PxBroadPhaseRegion& region, bool populateRegion=false) = 0;
01561
01575 virtual bool removeBroadPhaseRegion(PxU32 handle) = 0;
01576
01578
01579
01580
01584
01590 virtual PxTaskManager* getTaskManager() const = 0;
01591
01592
01611 virtual void lockRead(const char* file=NULL, PxU32 line=0) = 0;
01612
01618 virtual void unlockRead() = 0;
01619
01645 virtual void lockWrite(const char* file=NULL, PxU32 line=0) = 0;
01646
01652 virtual void unlockWrite() = 0;
01653
01654
01668 virtual void setNbContactDataBlocks(PxU32 numBlocks) = 0;
01669
01670
01680 virtual PxU32 getNbContactDataBlocksUsed() const = 0;
01681
01691 virtual PxU32 getMaxNbContactDataBlocksUsed() const = 0;
01692
01693
01699 virtual PxU32 getContactReportStreamBufferSize() const = 0;
01700
01701
01709 virtual void setSolverBatchSize(PxU32 solverBatchSize) = 0;
01710
01718 virtual PxU32 getSolverBatchSize() const = 0;
01719
01720
01722
01730 virtual PxReal getWakeCounterResetValue() const = 0;
01731
01748 virtual void shiftOrigin(const PxVec3& shift) = 0;
01749
01754 virtual PxPvdSceneClient* getScenePvdClient() = 0;
01755
01756 void* userData;
01757 };
01758
01759 #if !PX_DOXYGEN
01760 }
01761 #endif
01762
01764 #endif
