PhysX场景查询

PhysX: Scene Query

本文以PhysX 3.4物理引擎为例，介绍场景查询（Raycast, Sweep, Overlap）的一些内部机制和使用方法。

• PhysX 3.4 source code

• PhysX 3.4 PhysXGuide.chm

Scene

A Scene in PhysX engine is a container of objects in a hierachical manner.

There are only position and rotation in GlobalPose and LocalPose, no "scale". Scale only reflects on geometry's actual size.

Scene Query

Three kinds of scene query:

• raycast

• sweep

• overlap

In general, each SceneQuery traverses a culling structure containing the scene objects, performs a precise test using the GeometryQuery functions, and accumulates the results.

You can customize filtering logic via prefilter and postfilter.

• Broad phase traverses the global scene spatial partitioning structure to find the candidates for mid and narrow phases.

• Midphase traverses the triangle mesh and heightfield internal culling structures, to find a smaller subset of the triangles in a mesh reported by the broad phase.

• Narrow phase performs exact intersection tests

• Pre-filtering happens before midphase and narrow phase and allows shapes to be efficiently discarded before the potentially expensive exact collision test.

• Post-filtering happens after the narrow phase test and can therefore use the results of the test (such as PxRaycastHit.position) to determine whether a hit should be discarded or not.

Data Structure for traversal

A scene uses two query structures, one for "static" objects (PxRigidStatic), one for "dynamic" objects (PxRigidBody). Each structure can use different culling algorithms, see PxPruningStructureType.

PxPruningStructureType	Explaination
eNone	Based on grid. Full rebuild when changed.
eDYNAMIC_AABB_TREE	Based on tree. Full rebuild when changed. Only choose this if all static actors in your scene are not modified after initialization.
eSTATIC_AABB_TREE	Based on grid and tree. Incremental rebuild when changed, unless by force. Choose this if frequently add/remove geometry, at the cost of higher memory

Use prefilter and postfilter

To make prefilter works, there are 3 steps.

• Step 1. Attach data (PxFilterData) for on shape. It has four 32bit words to hold custom data, e.g., use word0 as layer of this shape.

Here is an example:

PxShape* shape = PxRigidActorExt::createExclusiveShape(*pxActor, PxBoxGeometry(extV), *pxMaterial);
PxFilterData queryFilter;
queryFilter.word0 = layer;
shape->setQueryFilterData(queryFilter);

• Step 2. Define callback function for prefilter. See PxQueryFilterCallback. The logic is totally depend on yourself, just return PxQueryHitType to tell if this shape can pass.

PxQueryHitType	Explanation
eNONE	Shall not pass.
eTOUCH	Pass, but does not stop the raycast or sweep.
eBLOCK	Pass, but stop here.

Here is an realworld example:

class PhysxQueryFilterCallback : public PxQueryFilterCallback
{
public:
	PhysxQueryFilterCallback();
	PhysxQueryFilterCallback(bool isBlocking, bool includeTrigger);
	virtual PxQueryHitType::Enum preFilter(const PxFilterData& filterData, const PxShape* shape, const PxRigidActor* actor, PxHitFlags& queryFlags);
	virtual PxQueryHitType::Enum postFilter(const PxFilterData& filterData, const PxQueryHit& hit);

private:
	PxQueryHitType::Enum m_HitType;
	bool m_IncludeTrigger;
};

PxQueryHitType::Enum PhysxQueryFilterCallback::preFilter(const PxFilterData& filterData, const PxShape* shape, const PxRigidActor* actor, PxHitFlags& queryFlags)
{
	bool isTrigger = shape->getFlags() & physx::PxShapeFlag::eTRIGGER_SHAPE;
	if (isTrigger && !m_IncludeTrigger) {
		return PxQueryHitType::eNONE;
	}

	PxFilterData shapefilterData = shape->getQueryFilterData();

	if (shapefilterData.word0 & filterData.word0 || shapefilterData.word1 & filterData.word1)
	{
		return m_HitType;
	}
	return PxQueryHitType::eNONE;
}

PxQueryHitType::Enum PhysxQueryFilterCallback::postFilter(const PxFilterData& filterData, const PxQueryHit& hit) 
{
	const PxLocationHit& impactHit = static_cast<const PxLocationHit&>(hit);
	if (impactHit.distance > 0.0f)
		return m_HitType;

	return PxQueryHitType::eNONE;
}

• Step 3. Add PxQueryFilterData when query

PxQueryFilterData has two fields:

field	Explaination
PxQueryFlags	Supported flags are in PxQueryFlag::Enums, e.g. raise ePREFILTER means all shapes need to pass prefilter you defined.
PxFilterData	Has four 32bit words for you, e.g. use word0 as the "layermask" of the query.

Here is an realworld example of raycast (return multiple objects):

struct MyRaycastHitResult
{
	PhysXVec3 Position;
	PhysXVec3 Normal;
	float Distance;
	PhysXActor* Collider;
};

typedef PhysXArray<MyRaycastHitResult> MyRaycastHitResults;

bool MyRaycast(MyRaycastHitResults& hitResults, const PhysXVec3& startPos, const PhysXVec3& direction, float distance, unsigned int layerMask, bool includeTrigger)
{

	const PxU32 bufferSize = 256;
	PxRaycastHit hitBuffer[bufferSize];
	PxRaycastBuffer buf(hitBuffer, bufferSize);

	PxQueryFilterData filterData = PxQueryFilterData();
	filterData.flags |= PxQueryFlag::ePREFILTER | PxQueryFlag::ePOSTFILTER;
	filterData.data.word0 = 0;
	filterData.data.word1 = layerMask;
	PhysxQueryFilterCallback filterCallback(false, includeTrigger);

	bool status = m_pxScene->raycast(startPos, direction, distance, buf, PxHitFlag::eDEFAULT, filterData, &filterCallback, NULL);

	if (status)
	{
		hitResults.clear();
		
		for (PxU32 i = 0; i < buf.nbTouches; i++)
		{
			PxRaycastHit touch = buf.touches[i];
			MyRaycastHitResult hitResult;
			hitResult.Position = touch.position;
			hitResult.Normal = touch.normal;
			hitResult.Distance = touch.distance;
			hitResult.Collider = (PhysXActor*)touch.actor->userData;
			hitResults.push_back(hitResult);
		}
		if (buf.hasBlock) {
			MyRaycastHitResult hitResult;
			hitResult.Position = buf.block.position;
			hitResult.Normal = buf.block.normal;
			hitResult.Distance = buf.block.distance;
			hitResult.Collider = (PhysXActor*)buf.block.actor->userData;
			hitResults.push_back(hitResult);
		}
	}
	return status;
}