VoxelMap.h

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#ifndef VOXEL_MAP_H
#define VOXEL_MAP_H
 
#include "PxPhysicsAPI.h"
 
/*
VoxelMap inherits physx::PxCustomGeometry::Callbacks interface and provides
implementations for 5 callback functions:
 
- getLocalBounds
- generateContacts
- raycast
- overlap
- sweep
 
It should be passed to PxCustomGeometry constructor.
 
*/
struct VoxelMap : physx::PxCustomGeometry::Callbacks, physx::PxUserAllocated
{
    void setDimensions(int x, int y, int z);
    int dimX() const;
    int dimY() const;
    int dimZ() const;
 
    void setVoxelSize(float x, float y, float z);
    const physx::PxVec3& voxelSize() const;
    float voxelSizeX() const;
    float voxelSizeY() const;
    float voxelSizeZ() const;
 
    physx::PxVec3 extents() const;
 
    void setVoxel(int x, int y, int z, bool yes = true);
 
    bool voxel(int x, int y, int z) const;
 
    void clearVoxels();
 
    void setFloorVoxels(int layers);
 
    void setWaveVoxels();
 
    void voxelize(const physx::PxGeometry& geom, const physx::PxTransform& pose, bool add = true);
 
    physx::PxVec3 voxelPos(int x, int y, int z) const;
 
    void pointCoords(const physx::PxVec3& p, int& x, int& y, int& z) const;
 
    void getVoxelRegion(const physx::PxBounds3& b, int& sx, int& sy, int& sz, int& ex, int& ey, int& ez) const;
 
    // physx::PxCustomGeometry::Callbacks overrides
 
    DECLARE_CUSTOM_GEOMETRY_TYPE
    virtual physx::PxBounds3 getLocalBounds(const physx::PxGeometry&) const;
    virtual bool generateContacts(const physx::PxGeometry& geom0, const physx::PxGeometry& geom1, const physx::PxTransform& pose0, const physx::PxTransform& pose1,
        const physx::PxReal contactDistance, const physx::PxReal meshContactMargin, const physx::PxReal toleranceLength,
        physx::PxContactBuffer& contactBuffer) const;
    virtual physx::PxU32 raycast(const physx::PxVec3& origin, const physx::PxVec3& unitDir, const physx::PxGeometry& geom, const physx::PxTransform& pose,
        physx::PxReal maxDist, physx::PxHitFlags hitFlags, physx::PxU32 maxHits, physx::PxGeomRaycastHit* rayHits, physx::PxU32 stride, physx::PxRaycastThreadContext*) const;
    virtual bool overlap(const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1, physx::PxOverlapThreadContext*) const;
    virtual bool sweep(const physx::PxVec3& unitDir, const physx::PxReal maxDist,
        const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1,
        physx::PxGeomSweepHit& sweepHit, physx::PxHitFlags hitFlags, const physx::PxReal inflation, physx::PxSweepThreadContext*) const;
    virtual void visualize(const physx::PxGeometry&, physx::PxRenderOutput&, const physx::PxTransform&, const physx::PxBounds3&) const;
    virtual void computeMassProperties(const physx::PxGeometry&, physx::PxMassProperties&) const {}
    virtual bool usePersistentContactManifold(const physx::PxGeometry&, physx::PxReal&) const { return true; }
 
private:
 
    int pacsX() const;
    int pacsY() const;
    int pacsZ() const;
 
    int m_dimensions[3];
    physx::PxVec3 m_voxelSize;
    physx::PxArray<physx::PxU64> m_packs;
};
 
#endif