PxGjkQuery

Defined in include/geometry/PxGjkQuery.h

class PxGjkQuery

Collection of GJK query functions (sweeps, raycasts, overlaps, …).

Public Static Functions

static bool proximityInfo(const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB, PxReal contactDistance, PxReal toleranceLength, PxVec3 &pointA, PxVec3 &pointB, PxVec3 &separatingAxis, PxReal &separation)

Computes proximity information for two shapes using GJK-EPA algorithm.

Parameters

  • a – [in] Shape A support mapping

  • b – [in] Shape B support mapping

  • poseA – [in] Shape A transformation

  • poseB – [in] Shape B transformation

  • contactDistance – [in] The distance at which proximity info begins to be computed between the shapes

  • toleranceLength – [in] The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units

  • pointA – [out] The closest/deepest point on shape A surface

  • pointB – [out] The closest/deepest point on shape B surface

  • separatingAxis – [out] Translating shape B along ‘separatingAxis’ by ‘separation’ makes the shapes touching

  • separation – [out] Translating shape B along ‘separatingAxis’ by ‘separation’ makes the shapes touching

Returns

False if the distance greater than contactDistance.

static bool raycast(const Support &shape, const PxTransform &pose, const PxVec3 &rayStart, const PxVec3 &unitDir, PxReal maxDist, PxReal &t, PxVec3 &n, PxVec3 &p)

Raycast test against the given shape.

Parameters

  • shape – [in] Shape support mapping

  • pose – [in] Shape transformation

  • rayStart – [in] The start point of the ray to test the shape against

  • unitDir – [in] Normalized direction of the ray to test the shape against

  • maxDist – [in] Maximum ray length, has to be in the [0, inf) range

  • t – [out] Hit distance

  • n – [out] Hit normal

  • p – [out] Hit point

Returns

True if there is a hit.

static bool overlap(const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB)

Overlap test for two shapes.

Parameters

  • a – [in] Shape A support mapping

  • b – [in] Shape B support mapping

  • poseA – [in] Shape A transformation

  • poseB – [in] Shape B transformation

Returns

True if the shapes overlap.

static bool sweep(const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB, const PxVec3 &unitDir, PxReal maxDist, PxReal &t, PxVec3 &n, PxVec3 &p)

Sweep the shape B in space and test for collision with the shape A.

Parameters

  • a – [in] Shape A support mapping

  • b – [in] Shape B support mapping

  • poseA – [in] Shape A transformation

  • poseB – [in] Shape B transformation

  • unitDir – [in] Normalized direction of the ray to test the shape against

  • maxDist – [in] Maximum ray length, has to be in the [0, inf) range

  • t – [out] Hit distance

  • n – [out] Hit normal

  • p – [out] Hit point

Returns

True if there is a hit.

struct Support

Abstract interface for a user defined shape GJK mapping support.

A user defined shape consists of a core shape and a margin. If the distance between two shapes’ cores is equal to the sum of their margins, these shapes are considered touching.

Subclassed by PxGjkQueryExt::BoxSupport, PxGjkQueryExt::CapsuleSupport, PxGjkQueryExt::ConvexGeomSupport, PxGjkQueryExt::ConvexMeshSupport, PxGjkQueryExt::SphereSupport

Public Functions

inline virtual ~Support()
virtual PxReal getMargin() const = 0

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const = 0

Return the farthest point on the user defined shape’s core in given direction.

Parameters

dir – [in] Direction

Returns

Farthest point in given direction.