SQAccelerator.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Chaos/Real.h"
#include "ChaosInterfaceWrapperCore.h"
#include "ChaosSQTypes.h"
#include "Containers/Array.h"
#include "Math/BoxSphereBounds.h"
#include "Math/MathFwd.h"
#include "Math/Transform.h"
#include "PhysicsInterfaceDeclaresCore.h"
#include "PhysicsInterfaceWrapperShared.h"
 
namespace ChaosInterface { struct FOverlapHit; }
namespace ChaosInterface { struct FPTOverlapHit; }
namespace ChaosInterface { struct FPTRaycastHit; }
namespace ChaosInterface { struct FPTSweepHit; }
namespace ChaosInterface { struct FRaycastHit; }
namespace ChaosInterface { struct FSweepHit; }
namespace ChaosInterface { template <typename HitType> class FSQHitBuffer; }
 
namespace Chaos
{
    class FAccelerationStructureHandle;
    class FImplicitObject;
    template <typename TPayload, typename T, int d>
    class ISpatialAcceleration;
}
 
class FSQAccelerator;
class ICollisionQueryFilterCallbackBase;
struct FCollisionFilterData;
struct FCollisionQueryParams;
struct FCollisionQueryParams;
 
class FChaosSQAccelerator
{
public:
 
    PHYSICSCORE_API FChaosSQAccelerator(const Chaos::ISpatialAcceleration<Chaos::FAccelerationStructureHandle,Chaos::FReal, 3>& InSpatialAcceleration);
    virtual ~FChaosSQAccelerator() {};
 
    PHYSICSCORE_API void Raycast(const FVector& Start, const FVector& Dir, const float DeltaMagnitude, ChaosInterface::FSQHitBuffer<ChaosInterface::FRaycastHit>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
    PHYSICSCORE_API void Raycast(const FVector& Start, const FVector& Dir, const float DeltaMagnitude, ChaosInterface::FSQHitBuffer<ChaosInterface::FPTRaycastHit>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
 
    PHYSICSCORE_API void Sweep(const Chaos::FImplicitObject& QueryGeom, const FTransform& StartTM, const FVector& Dir, const float DeltaMagnitude, ChaosInterface::FSQHitBuffer<ChaosInterface::FSweepHit>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
    PHYSICSCORE_API void Sweep(const Chaos::FImplicitObject& QueryGeom, const FTransform& StartTM, const FVector& Dir, const float DeltaMagnitude, ChaosInterface::FSQHitBuffer<ChaosInterface::FPTSweepHit>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
 
    PHYSICSCORE_API void Overlap(const Chaos::FImplicitObject& QueryGeom, const FTransform& GeomPose, ChaosInterface::FSQHitBuffer<ChaosInterface::FOverlapHit>& HitBuffer, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
    PHYSICSCORE_API void Overlap(const Chaos::FImplicitObject& QueryGeom, const FTransform& GeomPose, ChaosInterface::FSQHitBuffer<ChaosInterface::FPTOverlapHit>& HitBuffer, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams = {}) const;
 
private:
    const Chaos::ISpatialAcceleration<Chaos::FAccelerationStructureHandle, Chaos::FReal, 3>& SpatialAcceleration;
 
    template <typename TRaycastHit>
    void RaycastImp(const FVector& Start, const FVector& Dir, const float DeltaMagnitude, ChaosInterface::FSQHitBuffer<TRaycastHit>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback, const ChaosInterface::FQueryDebugParams& DebugParams) const;
 
};
 
// An interface to the scene query accelerator that allows us to run queries against either PhysX or Chaos
// This was used in the 2019 GDC demos and is now broken. To make it work again, we would need to implement
// the FChaosSQAcceleratorAdapter below to use its internal SQ accelerator and convert the inputs and outputs
// from/to PhysX types.
class ISQAccelerator
{
public:
    virtual ~ISQAccelerator() {};
    virtual void Raycast(const FVector& Start, const FVector& Dir, const float DeltaMagnitude, FPhysicsHitCallback<FHitRaycast>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const = 0;
    virtual void Sweep(const FPhysicsGeometry& QueryGeom, const FTransform& StartTM, const FVector& Dir, const float DeltaMagnitude, FPhysicsHitCallback<FHitSweep>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const = 0;
    virtual void Overlap(const FPhysicsGeometry& QueryGeom, const FTransform& GeomPose, FPhysicsHitCallback<FHitOverlap>& HitBuffer, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const = 0;
};
 
class FSQAcceleratorUnion : public ISQAccelerator
{
public:
 
    PHYSICSCORE_API virtual void Raycast(const FVector& Start, const FVector& Dir, const float DeltaMagnitude, FPhysicsHitCallback<FHitRaycast>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const override;
    PHYSICSCORE_API virtual void Sweep(const FPhysicsGeometry& QueryGeom, const FTransform& StartTM, const FVector& Dir, const float DeltaMagnitude, FPhysicsHitCallback<FHitSweep>& HitBuffer, EHitFlags OutputFlags, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const override;
    PHYSICSCORE_API virtual void Overlap(const FPhysicsGeometry& QueryGeom, const FTransform& GeomPose, FPhysicsHitCallback<FHitOverlap>& HitBuffer, const ChaosInterface::FQueryFilterData& QueryFilterData, ICollisionQueryFilterCallbackBase& QueryCallback) const override;
 
    PHYSICSCORE_API void AddSQAccelerator(ISQAccelerator* InAccelerator);
    PHYSICSCORE_API void RemoveSQAccelerator(ISQAccelerator* AcceleratorToRemove);
 
private:
    TArray<ISQAccelerator*> Accelerators;
};