Class representing a bounding volume hierarchy. More...

#include <PxBVH.h>

Inheritance diagram for physx::PxBVH:

Collaboration diagram for physx::PxBVH:

Classes
struct	OverlapCallback

struct	RaycastCallback

struct	TraversalCallback

Public Member Functions
virtual PX_DEPRECATED PxU32	raycast (const PxVec3 &origin, const PxVec3 &unitDir, PxReal maxDist, PxU32 maxHits, PxU32 *PX_RESTRICT rayHits) const =0
	Raycast test against a BVH.

virtual PX_DEPRECATED PxU32	sweep (const PxBounds3 &aabb, const PxVec3 &unitDir, PxReal maxDist, PxU32 maxHits, PxU32 *PX_RESTRICT sweepHits) const =0
	Sweep test against a BVH.

virtual PX_DEPRECATED PxU32	overlap (const PxBounds3 &aabb, PxU32 maxHits, PxU32 *PX_RESTRICT overlapHits) const =0
	AABB overlap test against a BVH.

virtual bool	raycast (const PxVec3 &origin, const PxVec3 &unitDir, float maxDist, RaycastCallback &cb, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT) const =0
	Raycast test against a BVH.

virtual bool	sweep (const PxGeometry &geom, const PxTransform &pose, const PxVec3 &unitDir, float maxDist, RaycastCallback &cb, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT) const =0
	Sweep test against a BVH.

virtual bool	overlap (const PxGeometry &geom, const PxTransform &pose, OverlapCallback &cb, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT) const =0
	Overlap test against a BVH.

virtual bool	cull (PxU32 nbPlanes, const PxPlane *planes, OverlapCallback &cb, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT) const =0
	Frustum culling test against a BVH.

virtual PxU32	getNbBounds () const =0
	Returns the number of bounds in the BVH.

virtual const PxBounds3 *	getBounds () const =0
	Retrieve the read-only bounds in the BVH.

PX_FORCE_INLINE PxBounds3 *	getBoundsForModification ()
	Retrieve the bounds in the BVH.

virtual void	refit ()=0
	Refit the BVH.

virtual bool	updateBounds (PxU32 boundsIndex, const PxBounds3 &newBounds)=0
	Update single bounds.

virtual void	partialRefit ()=0
	Refits subset of marked nodes.

virtual bool	traverse (TraversalCallback &cb) const =0
	Generic BVH traversal function.

virtual const char *	getConcreteTypeName () const
	Returns string name of dynamic type.

Public Member Functions inherited from physx::PxBase
virtual void	release ()=0
	Releases the PxBase instance, please check documentation of release in derived class.

template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object.

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags.

virtual bool	isReleasable () const
	Whether the object is subordinate.

Protected Member Functions
PX_INLINE	PxBVH (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxBVH (PxBaseFlags baseFlags)

virtual bool	isKindOf (const char *name) const
	Returns whether a given type name matches with the type of this instance.

Protected Member Functions inherited from physx::PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags.

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags.

virtual	~PxBase ()
	Destructor.

template<class T >
bool	typeMatch () const

Additional Inherited Members
Protected Attributes inherited from physx::PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

PxU32	mBuiltInRefCount

Detailed Description

Class representing a bounding volume hierarchy.

PxBVH can be provided to PxScene::addActor. In this case the scene query pruning structure inside PhysX SDK will store/update one bound per actor. The scene queries against such an actor will query actor bounds and then make a local space query against the provided BVH, which is in actor's local space.

PxBVH can also be used as a standalone data-structure for arbitrary purposes, unrelated to PxScene / PxActor.

See also: PxScene::addActor

Member Function Documentation

◆ cull()

virtual bool physx::PxBVH::cull	(	PxU32	nbPlanes,
		const PxPlane *	planes,
		OverlapCallback &	cb,
		PxGeometryQueryFlags	queryFlags = `PxGeometryQueryFlag::eDEFAULT`
	)		const

pure virtual

Frustum culling test against a BVH.

This is similar in spirit to an overlap query using a convex object around the frustum. However this specialized query has better performance, and can support more than the 6 planes of a frustum, which can be useful in portal-based engines.

On the other hand this test only returns a conservative number of bounds, i.e. some of the returned bounds may actually be outside the frustum volume, close to it but not touching it. This is usually an ok performance trade-off when the function is used for view-frustum culling.

Parameters

[in]	nbPlanes	Number of planes. Only 32 planes max are supported.
[in]	planes	Array of planes, should be in the same space as the BVH.
[in]	cb	Overlap callback, called once per visible object
[in]	queryFlags	Optional flags controlling the query.

Returns: false if query has been aborted

Implemented in physx::Gu::BVH.

◆ getBounds()

virtual const PxBounds3 * physx::PxBVH::getBounds ( ) const

pure virtual

Retrieve the read-only bounds in the BVH.

Note: These are the user-defined bounds passed to the BVH builder, not the internal bounds around each BVH node.

See also: PxBounds3 getNbBounds() getBoundsForModification()

Implemented in physx::Gu::BVH.

◆ getBoundsForModification()

PX_FORCE_INLINE PxBounds3 * physx::PxBVH::getBoundsForModification ( )

inline

Retrieve the bounds in the BVH.

These bounds can be modified. Call refit() after modifications are done.

Note: These are the user-defined bounds passed to the BVH builder, not the internal bounds around each BVH node.

See also: PxBounds3 getNbBounds() getBounds() refit() updateBounds() partialRefit()

◆ getConcreteTypeName()

virtual const char * physx::PxBVH::getConcreteTypeName ( ) const

inlinevirtual

Returns string name of dynamic type.

Returns: Class name of most derived type of this object.

Implements physx::PxBase.

◆ getNbBounds()

virtual PxU32 physx::PxBVH::getNbBounds ( ) const

pure virtual

Returns the number of bounds in the BVH.

You can use getBounds() to retrieve the bounds.

Note: These are the user-defined bounds passed to the BVH builder, not the internal bounds around each BVH node.

Returns: Number of bounds in the BVH.

See also: getBounds() getBoundsForModification()

Implemented in physx::Gu::BVH.

◆ isKindOf()

virtual bool physx::PxBVH::isKindOf ( const char * superClass ) const

inlineprotectedvirtual

Returns whether a given type name matches with the type of this instance.

Reimplemented from physx::PxBase.

◆ overlap() [1/2]

virtual PX_DEPRECATED PxU32 physx::PxBVH::overlap	(	const PxBounds3 &	aabb,
		PxU32	maxHits,
		PxU32 *PX_RESTRICT	overlapHits
	)		const

pure virtual

AABB overlap test against a BVH.

Parameters

[in]	aabb	The axis aligned bounding box
[in]	maxHits	Max number of returned hits = size of 'overlapHits' buffer
[out]	overlapHits	Overlap hits information, bounds indices

Returns: Number of hits

Deprecated:

Implemented in physx::Gu::BVH.

◆ overlap() [2/2]

virtual bool physx::PxBVH::overlap	(	const PxGeometry &	geom,
		const PxTransform &	pose,
		OverlapCallback &	cb,
		PxGeometryQueryFlags	queryFlags = `PxGeometryQueryFlag::eDEFAULT`
	)		const

pure virtual

Overlap test against a BVH.

Parameters

[in]	geom	The query volume
[in]	pose	The pose of the query volume
[in]	cb	Overlap callback, called once per hit
[in]	queryFlags	Optional flags controlling the query.

Returns: false if query has been aborted

Implemented in physx::Gu::BVH.

◆ partialRefit()

virtual void physx::PxBVH::partialRefit ( )

pure virtual

Refits subset of marked nodes.

This is an alternative to the refit() function, to be called after updateBounds() calls. See updateBounds() for details.

See also: getNbBounds() getBoundsForModification() refit() updateBounds()

Implemented in physx::Gu::BVH.

◆ raycast() [1/2]

virtual bool physx::PxBVH::raycast	(	const PxVec3 &	origin,
		const PxVec3 &	unitDir,
		float	maxDist,
		RaycastCallback &	cb,
		PxGeometryQueryFlags	queryFlags = `PxGeometryQueryFlag::eDEFAULT`
	)		const

pure virtual

Raycast test against a BVH.

Parameters

[in]	origin	The origin of the ray.
[in]	unitDir	Normalized direction of the ray.
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[in]	cb	Raycast callback, called once per hit
[in]	queryFlags	Optional flags controlling the query.

Returns: false if query has been aborted

Implemented in physx::Gu::BVH.

◆ raycast() [2/2]

virtual PX_DEPRECATED PxU32 physx::PxBVH::raycast	(	const PxVec3 &	origin,
		const PxVec3 &	unitDir,
		PxReal	maxDist,
		PxU32	maxHits,
		PxU32 *PX_RESTRICT	rayHits
	)		const

pure virtual

Raycast test against a BVH.

Parameters

[in]	origin	The origin of the ray.
[in]	unitDir	Normalized direction of the ray.
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[in]	maxHits	Max number of returned hits = size of 'rayHits' buffer
[out]	rayHits	Raycast hits information, bounds indices

Returns: Number of hits

Deprecated:

Implemented in physx::Gu::BVH.

◆ refit()

virtual void physx::PxBVH::refit ( )

pure virtual

Refit the BVH.

This function "refits" the tree, i.e. takes the new (leaf) bounding boxes into account and recomputes all the BVH bounds accordingly. This is an O(n) operation with n = number of bounds in the BVH.

This works best with minor bounds modifications, i.e. when the bounds remain close to their initial values. With large modifications the tree quality degrades more and more, and subsequent query performance suffers. It might be a better strategy to create a brand new BVH if bounds change drastically.

This function refits the whole tree after an arbitrary number of bounds have potentially been modified by users (via getBoundsForModification()). If you only have a small number of bounds to update, it might be more efficient to use setBounds() and partialRefit() instead.

See also: getNbBounds() getBoundsForModification() updateBounds() partialRefit()

Implemented in physx::Gu::BVH.

◆ sweep() [1/2]

virtual PX_DEPRECATED PxU32 physx::PxBVH::sweep	(	const PxBounds3 &	aabb,
		const PxVec3 &	unitDir,
		PxReal	maxDist,
		PxU32	maxHits,
		PxU32 *PX_RESTRICT	sweepHits
	)		const

pure virtual

Sweep test against a BVH.

Parameters

[in]	aabb	The axis aligned bounding box to sweep
[in]	unitDir	Normalized direction of the sweep.
[in]	maxDist	Maximum sweep length, has to be in the [0, inf) range
[in]	maxHits	Max number of returned hits = size of 'sweepHits' buffer
[out]	sweepHits	Sweep hits information, bounds indices

Returns: Number of hits

Deprecated:

Implemented in physx::Gu::BVH.

◆ sweep() [2/2]

virtual bool physx::PxBVH::sweep	(	const PxGeometry &	geom,
		const PxTransform &	pose,
		const PxVec3 &	unitDir,
		float	maxDist,
		RaycastCallback &	cb,
		PxGeometryQueryFlags	queryFlags = `PxGeometryQueryFlag::eDEFAULT`
	)		const

pure virtual

Sweep test against a BVH.

Parameters

[in]	geom	The query volume
[in]	pose	The pose of the query volume
[in]	unitDir	Normalized direction of the sweep.
[in]	maxDist	Maximum sweep length, has to be in the [0, inf) range
[in]	cb	Raycast callback, called once per hit
[in]	queryFlags	Optional flags controlling the query.

Returns: false if query has been aborted

Implemented in physx::Gu::BVH.

◆ traverse()

virtual bool physx::PxBVH::traverse ( TraversalCallback & cb ) const

pure virtual

Generic BVH traversal function.

This can be used to implement custom BVH traversal functions if provided ones are not enough. In particular this can be used to visualize the tree's bounds.

Parameters

[in] cb Traversal callback, called for each visited node

Returns: false if query has been aborted

Implemented in physx::Gu::BVH.

◆ updateBounds()

virtual bool physx::PxBVH::updateBounds	(	PxU32	boundsIndex,
		const PxBounds3 &	newBounds
	)

pure virtual

Update single bounds.

This is an alternative to getBoundsForModification() / refit(). If you only have a small set of bounds to update, it can be inefficient to call the refit() function, because it refits the whole BVH.

Instead, one can update individual bounds with this updateBounds() function. It sets the new bounds and marks the corresponding BVH nodes for partial refit. Once all the individual bounds have been updated, call partialRefit() to only refit the subset of marked nodes.

Parameters

[in]	boundsIndex	Index of updated bounds. Valid range is between 0 and getNbBounds().
[in]	newBounds	Updated bounds.

Returns: true if success

See also: getNbBounds() getBoundsForModification() refit() partialRefit()

Implemented in physx::Gu::BVH.

The documentation for this class was generated from the following file:

RavEngine/deps/physx/physx/include/geometry/PxBVH.h

Classes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ cull()

◆ getBounds()

◆ getBoundsForModification()

◆ getConcreteTypeName()

◆ getNbBounds()

◆ isKindOf()

◆ overlap() [1/2]

◆ overlap() [2/2]

◆ partialRefit()

◆ raycast() [1/2]

◆ raycast() [2/2]

◆ refit()

◆ sweep() [1/2]

◆ sweep() [2/2]

◆ traverse()

◆ updateBounds()