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00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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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
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00025 //
00026 // Copyright (c) 2008-2012 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 #ifndef PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045     #define INVALID_OBSTACLE_HANDLE 0xffffffff
00046 
00052     class PxObstacle
00053     {
00054         protected:
00055                                                 PxObstacle() :
00056                                                     mType       (PxGeometryType::eINVALID),
00057                                                     mUserData   (NULL),
00058                                                     mPos        (0.0, 0.0, 0.0),
00059                                                     mRot        (PxQuat::createIdentity())
00060                                                 {}
00061                                                 ~PxObstacle()                   {}
00062 
00063                         PxGeometryType::Enum    mType; 
00064         public:
00065 
00066         PX_FORCE_INLINE PxGeometryType::Enum    getType()   const   { return mType; }
00067 
00068                         void*                   mUserData;
00069                         PxExtendedVec3          mPos;
00070                         PxQuat                  mRot;
00071     };
00072 
00078     class PxBoxObstacle : public PxObstacle
00079     {
00080         public:
00081                                                 PxBoxObstacle() :
00082                                                     mHalfExtents(0.0f)
00083                                                 { mType = PxGeometryType::eBOX;      }
00084                                                 ~PxBoxObstacle()        {}
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                                                 ~PxCapsuleObstacle()                                {}
00102 
00103                         PxReal                  mHalfHeight;
00104                         PxReal                  mRadius;
00105     };
00106 
00107     typedef PxU32   ObstacleHandle;
00108 
00116     class PxObstacleContext
00117     {
00118         public:
00119                                     PxObstacleContext()     {}
00120         virtual                     ~PxObstacleContext()    {}
00121 
00125         virtual void                release()                                                           = 0;
00126 
00134         virtual ObstacleHandle      addObstacle(const PxObstacle& obstacle)                             = 0;
00135 
00143         virtual bool                removeObstacle(ObstacleHandle handle)                               = 0;
00144 
00153         virtual bool                updateObstacle(ObstacleHandle handle, const PxObstacle& obstacle)   = 0;
00154 
00160         virtual PxU32               getNbObstacles()                                            const   = 0;
00161 
00169         virtual const PxObstacle*   getObstacle(PxU32 i)                                        const   = 0;
00170     };
00171 
00172 #ifndef PX_DOXYGEN
00173 }
00174 #endif
00175 
00177 #endif