00001 // This code contains NVIDIA Confidential Information and is disclosed to you
00002 // under a form of NVIDIA software license agreement provided separately to you.
00003 //
00004 // Notice
00005 // NVIDIA Corporation and its licensors retain all intellectual property and
00006 // proprietary rights in and to this software and related documentation and
00007 // any modifications thereto. Any use, reproduction, disclosure, or
00008 // distribution of this software and related documentation without an express
00009 // license agreement from NVIDIA Corporation is strictly prohibited.
00010 //
00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
00014 // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
00015 //
00016 // Information and code furnished is believed to be accurate and reliable.
00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
00018 // information or for any infringement of patents or other rights of third parties that may
00019 // result from its use. No license is granted by implication or otherwise under any patent
00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2017 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