// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_SCENE_QUERY_EXT_H
#define PX_SCENE_QUERY_EXT_H

#include "PxPhysXConfig.h"

#include "PxScene.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

// These types have been deprecated (removed) in PhysX 3.4. We typedef them to the new types here for easy migration from 3.3 to 3.4.
// We will not remove these aliases for convenience.
typedef PxQueryHit				PxSceneQueryHit;
typedef PxQueryFilterData		PxSceneQueryFilterData;
typedef PxQueryFilterCallback	PxSceneQueryFilterCallback;
typedef PxQueryCache			PxSceneQueryCache;
typedef PxHitFlag				PxSceneQueryFlag;
typedef PxHitFlags				PxSceneQueryFlags;

/**
\brief Utility functions for use with PxScene, related to scene queries.

Some of these functions have been deprecated (removed) in PhysX 3.4. We re-implement them here for easy migration from 3.3 to 3.4.
We will not remove them for convenience.
*/
class PxSceneQueryExt
{
public:

	/**
	\brief Raycast returning any blocking hit, not necessarily the closest.
	
	Returns whether any rigid actor is hit along the ray.

	\note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.

	\param[in] scene		The scene
	\param[in] origin		Origin of the ray.
	\param[in] unitDir		Normalized direction of the ray.
	\param[in] distance		Length of the ray. Needs to be larger than 0.
	\param[out] hit			Raycast hit information.
	\param[in] filterData	Filtering data and simple logic.
	\param[in] filterCall	Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
	\param[in] cache		Cached hit shape (optional). Ray is tested against cached shape first. If no hit is found the ray gets queried against the scene.
							Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
							Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\return True if a blocking hit was found.

	\see PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache PxSceneQueryHit
	*/
	static bool raycastAny(	const PxScene& scene,
							const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
							PxSceneQueryHit& hit, const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
							PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);

	/**
	\brief Raycast returning a single result.
	
	Returns the first rigid actor that is hit along the ray. Data for a blocking hit will be returned as specified by the outputFlags field. Touching hits will be ignored.

	\note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.

	\param[in] scene		The scene
	\param[in] origin		Origin of the ray.
	\param[in] unitDir		Normalized direction of the ray.
	\param[in] distance		Length of the ray. Needs to be larger than 0.
	\param[in] outputFlags	Specifies which properties should be written to the hit information
	\param[out] hit			Raycast hit information.
	\param[in] filterData	Filtering data and simple logic.
	\param[in] filterCall	Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
	\param[in] cache		Cached hit shape (optional). Ray is tested against cached shape first then against the scene.
							Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
							Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\return True if a blocking hit was found.

	\see PxSceneQueryFlags PxRaycastHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
	*/
	static bool raycastSingle(	const PxScene& scene,
								const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
								PxSceneQueryFlags outputFlags, PxRaycastHit& hit,
								const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
								PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);

	/**
	\brief Raycast returning multiple results.
	
	Find all rigid actors that get hit along the ray. Each result contains data as specified by the outputFlags field.

	\note Touching hits are not ordered.

	\note Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.

	\param[in] scene			The scene
	\param[in] origin			Origin of the ray.
	\param[in] unitDir			Normalized direction of the ray.
	\param[in] distance			Length of the ray. Needs to be larger than 0.
	\param[in] outputFlags		Specifies which properties should be written to the hit information
	\param[out] hitBuffer		Raycast hit information buffer. If the buffer overflows, the blocking hit is returned as the last entry together with an arbitrary subset
								of the nearer touching hits (typically the query should be restarted with a larger buffer).
	\param[in] hitBufferSize	Size of the hit buffer.
	\param[out] blockingHit		True if a blocking hit was found. If found, it is the last in the buffer, preceded by any touching hits which are closer. Otherwise the touching hits are listed.
	\param[in] filterData		Filtering data and simple logic.
	\param[in] filterCall		Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be touching.
	\param[in] cache			Cached hit shape (optional). Ray is tested against cached shape first then against the scene.
								Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
								Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\return Number of hits in the buffer, or -1 if the buffer overflowed.

	\see PxSceneQueryFlags PxRaycastHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
	*/
	static PxI32 raycastMultiple(	const PxScene& scene,
									const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
									PxSceneQueryFlags outputFlags,
									PxRaycastHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
									const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
									PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL);

	/**
	\brief Sweep returning any blocking hit, not necessarily the closest.
	
	Returns whether any rigid actor is hit along the sweep path.

	\note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.

	\param[in] scene		The scene
	\param[in] geometry		Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
	\param[in] pose			Pose of the sweep object.
	\param[in] unitDir		Normalized direction of the sweep.
	\param[in] distance		Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
	\param[in] queryFlags	Combination of PxSceneQueryFlag defining the query behavior
	\param[out] hit			Sweep hit information.
	\param[in] filterData	Filtering data and simple logic.
	\param[in] filterCall	Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
	\param[in] cache		Cached hit shape (optional). Sweep is performed against cached shape first. If no hit is found the sweep gets queried against the scene.
							Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
							Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\param[in] inflation	This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
	\return True if a blocking hit was found.

	\see PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryHit PxSceneQueryCache
	*/
	static bool sweepAny(	const PxScene& scene,
							const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
							PxSceneQueryFlags queryFlags,
							PxSceneQueryHit& hit,
							const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
							PxSceneQueryFilterCallback* filterCall = NULL,
							const PxSceneQueryCache* cache = NULL,
							PxReal inflation = 0.0f);

	/**
	\brief Sweep returning a single result.
	
	Returns the first rigid actor that is hit along the ray. Data for a blocking hit will be returned as specified by the outputFlags field. Touching hits will be ignored.

	\note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.

	\param[in] scene		The scene
	\param[in] geometry		Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
	\param[in] pose			Pose of the sweep object.
	\param[in] unitDir		Normalized direction of the sweep.
	\param[in] distance		Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
	\param[in] outputFlags	Specifies which properties should be written to the hit information.
	\param[out] hit			Sweep hit information.
	\param[in] filterData	Filtering data and simple logic.
	\param[in] filterCall	Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be blocking.
	\param[in] cache		Cached hit shape (optional). Sweep is performed against cached shape first then against the scene.
							Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
							Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\param[in] inflation	This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
	\return True if a blocking hit was found.

	\see PxSceneQueryFlags PxSweepHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
	*/
	static bool sweepSingle(const PxScene& scene,
							const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
							PxSceneQueryFlags outputFlags,
							PxSweepHit& hit,
							const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
							PxSceneQueryFilterCallback* filterCall = NULL,
							const PxSceneQueryCache* cache = NULL,
							PxReal inflation=0.0f);

	/**
	\brief Sweep returning multiple results.
	
	Find all rigid actors that get hit along the sweep. Each result contains data as specified by the outputFlags field.

	\note Touching hits are not ordered.

	\note If a shape from the scene is already overlapping with the query shape in its starting position, behavior is controlled by the PxSceneQueryFlag::eINITIAL_OVERLAP flag.

	\param[in] scene			The scene
	\param[in] geometry			Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
	\param[in] pose				Pose of the sweep object.
	\param[in] unitDir			Normalized direction of the sweep.
	\param[in] distance			Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
	\param[in] outputFlags		Specifies which properties should be written to the hit information.
	\param[out] hitBuffer		Sweep hit information buffer. If the buffer overflows, the blocking hit is returned as the last entry together with an arbitrary subset
								of the nearer touching hits (typically the query should be restarted with a larger buffer).
	\param[in] hitBufferSize	Size of the hit buffer.
	\param[out] blockingHit		True if a blocking hit was found. If found, it is the last in the buffer, preceded by any touching hits which are closer. Otherwise the touching hits are listed.
	\param[in] filterData		Filtering data and simple logic.
	\param[in] filterCall		Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to be touching.
	\param[in] cache			Cached hit shape (optional). Sweep is performed against cached shape first then against the scene.
								Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
								Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\param[in] inflation		This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
	\return Number of hits in the buffer, or -1 if the buffer overflowed.

	\see PxSceneQueryFlags PxSweepHit PxSceneQueryFilterData PxSceneQueryFilterCallback PxSceneQueryCache
	*/
	static PxI32 sweepMultiple(	const PxScene& scene,
								const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
								PxSceneQueryFlags outputFlags, PxSweepHit* hitBuffer, PxU32 hitBufferSize, bool& blockingHit,
								const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
								PxSceneQueryFilterCallback* filterCall = NULL, const PxSceneQueryCache* cache = NULL,
								PxReal inflation = 0.0f);

	/**
	\brief Test overlap between a geometry and objects in the scene.
	
	\note Filtering: Overlap tests do not distinguish between touching and blocking hit types. Both get written to the hit buffer.

	\note PxHitFlag::eMESH_MULTIPLE and PxHitFlag::eMESH_BOTH_SIDES have no effect in this case

	\param[in] scene			The scene
	\param[in] geometry			Geometry of object to check for overlap (supported types are: box, sphere, capsule, convex).
	\param[in] pose				Pose of the object.
	\param[out] hitBuffer		Buffer to store the overlapping objects to. If the buffer overflows, an arbitrary subset of overlapping objects is stored (typically the query should be restarted with a larger buffer).
	\param[in] hitBufferSize	Size of the hit buffer. 
	\param[in] filterData		Filtering data and simple logic.
	\param[in] filterCall		Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to overlap.
	\return Number of hits in the buffer, or -1 if the buffer overflowed.

	\see PxSceneQueryFlags PxSceneQueryFilterData PxSceneQueryFilterCallback
	*/
	static PxI32 overlapMultiple(	const PxScene& scene,
									const PxGeometry& geometry, const PxTransform& pose,
									PxOverlapHit* hitBuffer, PxU32 hitBufferSize,
									const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
									PxSceneQueryFilterCallback* filterCall = NULL);

	/**
	\brief Test returning, for a given geometry, any overlapping object in the scene.
	
	\note Filtering: Overlap tests do not distinguish between touching and blocking hit types. Both trigger a hit.

	\note PxHitFlag::eMESH_MULTIPLE and PxHitFlag::eMESH_BOTH_SIDES have no effect in this case
	
	\param[in] scene			The scene
	\param[in] geometry			Geometry of object to check for overlap (supported types are: box, sphere, capsule, convex).
	\param[in] pose				Pose of the object.
	\param[out] hit				Pointer to store the overlapping object to.
	\param[in] filterData		Filtering data and simple logic.
	\param[in] filterCall		Custom filtering logic (optional). Only used if the corresponding #PxHitFlag flags are set. If NULL, all hits are assumed to overlap.
	\return True if an overlap was found.

	\see PxSceneQueryFlags PxSceneQueryFilterData PxSceneQueryFilterCallback
	*/
	static bool	overlapAny(	const PxScene& scene,
							const PxGeometry& geometry, const PxTransform& pose,
							PxOverlapHit& hit,
							const PxSceneQueryFilterData& filterData = PxSceneQueryFilterData(),
							PxSceneQueryFilterCallback* filterCall = NULL);
};

struct PxBatchQueryStatus
{
	enum Enum
	{
		/**
		\brief This is the initial state before a query starts.
		*/
		ePENDING = 0,

		/**
		\brief The query is finished; results have been written into the result and hit buffers.
		*/
		eSUCCESS,

		/**
		\brief The query results were incomplete due to touch hit buffer overflow. Blocking hit is still correct.
		*/
		eOVERFLOW
	};

	static PX_FORCE_INLINE Enum getStatus(const PxRaycastBuffer& r) 
	{
		return (0xffffffff == r.nbTouches) ? ePENDING : (0xffffffff == r.maxNbTouches ? eOVERFLOW : eSUCCESS);
	} 
	static PX_FORCE_INLINE Enum getStatus(const PxSweepBuffer& r)
	{
		return (0xffffffff == r.nbTouches) ? ePENDING : (0xffffffff == r.maxNbTouches ? eOVERFLOW : eSUCCESS); 
	}
	static PX_FORCE_INLINE Enum getStatus(const PxOverlapBuffer& r)
	{
		return (0xffffffff == r.nbTouches) ? ePENDING : (0xffffffff == r.maxNbTouches ? eOVERFLOW : eSUCCESS);
	}
};

class PxBatchQueryExt
{
public:

	virtual void release() = 0;

	/**
	\brief Performs a raycast against objects in the scene.

	\note	Touching hits are not ordered.
	\note	Shooting a ray from within an object leads to different results depending on the shape type. Please check the details in article SceneQuery. User can ignore such objects by using one of the provided filter mechanisms.

	\param[in] origin		Origin of the ray.
	\param[in] unitDir		Normalized direction of the ray.
	\param[in] distance		Length of the ray. Needs to be larger than 0.
	\param[in] maxNbTouches	Maximum number of hits to record in the touch buffer for this query. Default=0 reports a single blocking hit. If maxTouchHits is set to 0 all hits are treated as blocking by default.
	\param[in] hitFlags		Specifies which properties per hit should be computed and returned in hit array and blocking hit.
	\param[in] filterData	Filtering data passed to the filter shader. See #PxQueryFilterData #PxQueryFilterCallback
	\param[in] cache		Cached hit shape (optional). Query is tested against cached shape first. If no hit is found the ray gets queried against the scene.
	Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
	Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.

	\note This query call writes to a list associated with the query object and is NOT thread safe (for performance reasons there is no lock
	and overlapping writes from different threads may result in undefined behavior).

	\return Returns a PxRaycastBuffer pointer that will store the result of the query after execute() is completed.
	This will point either to an element of the buffer allocated on construction or to a user buffer passed to the constructor.
	\see PxCreateBatchQueryExt

	\see PxQueryFilterData PxQueryFilterCallback PxRaycastHit PxScene::raycast
	*/
	virtual PxRaycastBuffer* raycast(
		const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
		const PxU16 maxNbTouches = 0,
		PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
		const PxQueryFilterData& filterData = PxQueryFilterData(),
		const PxQueryCache* cache = NULL) = 0;

	/**
	\brief Performs a sweep test against objects in the scene.

	\note	Touching hits are not ordered.
	\note	If a shape from the scene is already overlapping with the query shape in its starting position,
	the hit is returned unless eASSUME_NO_INITIAL_OVERLAP was specified.

	\param[in] geometry		Geometry of object to sweep (supported types are: box, sphere, capsule, convex).
	\param[in] pose			Pose of the sweep object.
	\param[in] unitDir		Normalized direction of the sweep.
	\param[in] distance		Sweep distance. Needs to be larger than 0. Will be clamped to PX_MAX_SWEEP_DISTANCE.
	\param[in] maxNbTouches	Maximum number of hits to record in the touch buffer for this query. Default=0 reports a single blocking hit. If maxTouchHits is set to 0 all hits are treated as blocking by default.
	\param[in] hitFlags		Specifies which properties per hit should be computed and returned in hit array and blocking hit.
	\param[in] filterData	Filtering data and simple logic. See #PxQueryFilterData #PxQueryFilterCallback
	\param[in] cache		Cached hit shape (optional). Query is tested against cached shape first. If no hit is found the ray gets queried against the scene.
	Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
	Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.
	\param[in] inflation	This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
	Note: ePRECISE_SWEEP doesn't support inflation. Therefore the sweep will be performed with zero inflation.

	\note This query call writes to a list associated with the query object and is NOT thread safe (for performance reasons there is no lock
	and overlapping writes from different threads may result in undefined behavior).

	\return Returns a PxSweepBuffer pointer that will store the result of the query after execute() is completed.
	This will point either to an element of the buffer allocated on construction or to a user buffer passed to the constructor.
	\see PxCreateBatchQueryExt

	\see PxHitFlags PxQueryFilterData PxBatchQueryPreFilterShader PxBatchQueryPostFilterShader PxSweepHit
	*/
	virtual PxSweepBuffer* sweep(
		const PxGeometry& geometry, const PxTransform& pose, const PxVec3& unitDir, const PxReal distance,
		const PxU16 maxNbTouches = 0,
		PxHitFlags hitFlags = PxHitFlags(PxHitFlag::eDEFAULT),
		const PxQueryFilterData& filterData = PxQueryFilterData(),
		const PxQueryCache* cache = NULL,
		const PxReal inflation = 0.0f) = 0;


	/**
	\brief Performs an overlap test of a given geometry against objects in the scene.

	\note Filtering: returning eBLOCK from user filter for overlap queries will cause a warning (see #PxQueryHitType).

	\param[in] geometry		Geometry of object to check for overlap (supported types are: box, sphere, capsule, convex).
	\param[in] pose			Pose of the object.
	\param[in] maxNbTouches	Maximum number of hits to record in the touch buffer for this query. Default=0 reports a single blocking hit. If maxTouchHits is set to 0 all hits are treated as blocking by default.
	\param[in] filterData	Filtering data and simple logic. See #PxQueryFilterData #PxQueryFilterCallback
	\param[in] cache		Cached hit shape (optional). Query is tested against cached shape first. If no hit is found the ray gets queried against the scene.
	Note: Filtering is not executed for a cached shape if supplied; instead, if a hit is found, it is assumed to be a blocking hit.
	Note: Using past touching hits as cache will produce incorrect behavior since the cached hit will always be treated as blocking.

	\note eBLOCK should not be returned from user filters for overlap(). Doing so will result in undefined behavior, and a warning will be issued.
	\note If the PxQueryFlag::eNO_BLOCK flag is set, the eBLOCK will instead be automatically converted to an eTOUCH and the warning suppressed.
	\note This query call writes to a list associated with the query object and is NOT thread safe (for performance reasons there is no lock
	and overlapping writes from different threads may result in undefined behavior).

	\return Returns a PxOverlapBuffer pointer that will store the result of the query after execute() is completed.
	This will point either to an element of the buffer allocated on construction or to a user buffer passed to the constructor. 
	\see PxCreateBatchQueryExt

	\see PxQueryFilterData PxQueryFilterCallback
	*/
	virtual PxOverlapBuffer* overlap(
		const PxGeometry& geometry, const PxTransform& pose,
		PxU16 maxNbTouches = 0,
		const PxQueryFilterData& filterData = PxQueryFilterData(),
		const PxQueryCache* cache = NULL) = 0;
		
	virtual void execute() = 0;

protected:

	virtual ~PxBatchQueryExt() {}
};

/**
\brief Create a PxBatchQueryExt without the need for pre-allocated result or touch buffers. 

\param[in] scene				Queries will be performed against objects in the specified PxScene
\param[in] queryFilterCallback	Filtering for all queries is performed using queryFilterCallback.  A null pointer results in all shapes being considered.

\param[in] maxNbRaycasts		A result buffer will be allocated that is large enough to accommodate maxNbRaycasts calls to PxBatchQueryExt::raycast() 
\param[in] maxNbRaycastTouches	A touch buffer will be allocated that is large enough to accommodate maxNbRaycastTouches touches for all raycasts in the batch.

\param[in] maxNbSweeps			A result buffer will be allocated that is large enough to accommodate maxNbSweeps calls to PxBatchQueryExt::sweep()
\param[in] maxNbSweepTouches	A touch buffer will be allocated that is large enough to accommodate maxNbSweepTouches touches for all sweeps in the batch.

\param[in] maxNbOverlaps		A result buffer will be allocated that is large enough to accommodate maxNbOverlaps calls to PxBatchQueryExt::overlap()
\param[in] maxNbOverlapTouches	A touch buffer will be allocated that is large enough to accommodate maxNbOverlapTouches touches for all overlaps in the batch.

\return Returns a PxBatchQueryExt instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal.   
In the event that a NULL pointer is returned a corresponding error will be issued to the error stream. 
*/
PxBatchQueryExt* PxCreateBatchQueryExt(
	const PxScene& scene, PxQueryFilterCallback* queryFilterCallback,
	const PxU32 maxNbRaycasts, const PxU32 maxNbRaycastTouches,
	const PxU32 maxNbSweeps, const PxU32 maxNbSweepTouches,
	const PxU32 maxNbOverlaps, const PxU32 maxNbOverlapTouches);


/**
\brief Create a PxBatchQueryExt with user-supplied result and touch buffers.

\param[in] scene				Queries will be performed against objects in the specified PxScene
\param[in] queryFilterCallback	Filtering for all queries is performed using queryFilterCallback.  A null pointer results in all shapes being considered.

\param[in] raycastBuffers		This is the array that will be used to store the results of each raycast in a batch. 
\param[in] maxNbRaycasts		This is the length of the raycastBuffers array.
\param[in] raycastTouches		This is the array that will be used to store the touches generated by all raycasts in a batch.
\param[in] maxNbRaycastTouches	This is the length of the raycastTouches array.

\param[in] sweepBuffers			This is the array that will be used to store the results of each sweep in a batch.
\param[in] maxNbSweeps			This is the length of the sweepBuffers array.
\param[in] sweepTouches			This is the array that will be used to store the touches generated by all sweeps in a batch.
\param[in] maxNbSweepTouches	This is the length of the sweepTouches array.

\param[in] overlapBuffers		This is the array that will be used to store the results of each overlap in a batch.
\param[in] maxNbOverlaps		This is the length of the overlapBuffers array.
\param[in] overlapTouches		This is the array that will be used to store the touches generated by all overlaps in a batch.
\param[in] maxNbOverlapTouches	This is the length of the overlapTouches array.

\return Returns a PxBatchQueryExt instance. A NULL pointer will be returned if the subsequent allocations fail or if any of the arguments are illegal.
In the event that a NULL pointer is returned a corresponding error will be issued to the error stream.
*/
PxBatchQueryExt* PxCreateBatchQueryExt(
	const PxScene& scene, PxQueryFilterCallback* queryFilterCallback,
	PxRaycastBuffer* raycastBuffers, const PxU32 maxNbRaycasts, PxRaycastHit* raycastTouches, const PxU32 maxNbRaycastTouches,
	PxSweepBuffer* sweepBuffers, const PxU32 maxNbSweeps, PxSweepHit* sweepTouches, const PxU32 maxNbSweepTouches,
	PxOverlapBuffer* overlapBuffers, const PxU32 maxNbOverlaps, PxOverlapHit* overlapTouches, const PxU32 maxNbOverlapTouches);

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif
