How to expose extra parameters in `raycast()`?

[repulsio]

https://github.com/fabmax/PhysX/blob/webidl-bindings/physx/include/PxSceneQuerySystem.h#L181

virtual bool	raycast(const PxVec3& origin, const PxVec3& unitDir, const PxReal distance,
			PxRaycastCallback& hitCall, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
			const PxQueryFilterData& filterData = PxQueryFilterData(), PxQueryFilterCallback* filterCall = NULL,
			const PxQueryCache* cache = NULL, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT) const = 0;

I'd like to expose the PxQueryFilterCallback* filterCall parameter. However, the current TypeScript definition cuts off at filterData:

raycast(origin: PxVec3, unitDir: PxVec3, distance: number, hitCall: PxRaycastCallback, hitFlags?: PxHitFlags, filterData?: PxQueryFilterData): boolean;

@fabmax could you please share how we could expose this extra function parameter in raycast()?

Thank you so much for all of your time and help 😄

[repulsio]

Ooh, it looks like we can do this just by editing the one line in physx/source/webidlbindings/src/wasm/PhysXWasm.idl:

boolean raycast([Const, Ref] PxVec3 origin, [Const, Ref] PxVec3 unitDir, float distance, [Ref] PxRaycastCallback hitCall, [Ref] optional PxHitFlags hitFlags, [Const, Ref] optional PxQueryFilterData filterDat, optional PxQueryFilterCallback filterCall);

---

I was curious about how these C definitions are generated:

physx/source/webidlbindings/src/wasm/PhysXWasm.cpp:

#include <glue.cpp>

// nothing else to do here, the magic happens inside glue.cpp

Fabmax, if you have time, I'd love to hear how you did this "magic"? 😮 Thank you!!

[fabmax]

Ooh, it looks like we can do this just by editing the one line in physx/source/webidlbindings/src/wasm/PhysXWasm.idl

Yes and no. The thing is that PxQueryFilterCallback is a callback class and therefore needs to be exposed as well. Callback classes are a bit more complicated to do because they consist of the original C++ interface and the js callback stub which implements that interface. There are other examples in the idl file how to do that: e.g. PxControllerFilterCallback + PxControllerFilterCallbackImpl.

Once these things are in place, the rest should happen automagically when the lib is built with emscripten.

[repulsio]

Ooh, thank you, Fabmax!

Thankfully, it seems like you have already exposed PxQueryFilterCallback and PxQueryFilterCallbackImpl in PhysXWasm.idl 😃 Would this be enough?

https://github.com/fabmax/PhysX/blob/webidl-bindings/physx/source/webidlbindings/src/wasm/PhysXWasm.idl#L2016

[Prefix="physx::"]
interface PxQueryFilterCallback {
};

[JSImplementation="SimpleQueryFilterCallback"]
interface PxQueryFilterCallbackImpl {
    void PxQueryFilterCallbackImpl();
    unsigned long simplePreFilter([Const, Ref] PxFilterData filterData, [Const] PxShape shape, [Const] PxRigidActor actor, [Ref] PxHitFlags queryFlags);
    unsigned long simplePostFilter([Const, Ref] PxFilterData filterData, [Const, Ref] PxQueryHit hit, [Const] PxShape shape, [Const] PxRigidActor actor);
};

---

All seems to be working well after I added optional PxQueryFilterCallback filterCall to raycast()'s parameters (as described in the above post: #50 (comment))

The following TypeScript code seems to work well after rebuilding PhysX with the one-line change in PhysXWasm.idl:

const filterCallback = new PhysX.PxQueryFilterCallbackImpl();
filterCallback.simplePreFilter = (filterDataPtr, shapePtr, actorPtr, queryFlagsPtr): number => {
	const filterData = PhysX.wrapPointer(filterDataPtr, PhysX.PxFilterData);
	const shape = PhysX.wrapPointer(shapePtr, PhysX.PxShape);
	const shapeFilterData = shape.getQueryFilterData();

	if (filterData.word0 & shapeFilterData.word1 && shapeFilterData.word0 & filterData.word1) {
		return PhysX._emscripten_enum_PxQueryHitType_eBLOCK();
	}

	return PhysX._emscripten_enum_PxQueryHitType_eNONE();
};

world.raycast(
	//
	startPX,
	directionPX,
	rayPX.magnitude(),
	raycastResult,
	hitFlags,
	queryFilterData,
	filterCallback, // pre-filter out hits using the same logic for collision filtering
);

---

P.S. the reason I have to do this is because I just realized that the logic filtering for collisions is different from the filtering logic for scene queries:

https://nvidia-omniverse.github.io/PhysX/physx/5.6.0/docs/RigidBodyCollision.html#pxsimulationfiltershader

if((filterData0.word0 & filterData1.word1) && (filterData1.word0 & filterData0.word1))
        pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;

https://nvidia-omniverse.github.io/PhysX/physx/5.6.0/docs/SceneQueries.html#pxfilterdata-fixed-function-filtering

PxU32 keep = (query.word0 & object.word0)
           | (query.word1 & object.word1)
           | (query.word2 & object.word2)
           | (query.word3 & object.word3);

[fabmax]

Oh right! Missed that it was already there 😃

Nice to see that it works well!