Program Listing for include/extensions/PxCustomGeometryExt.h
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#ifndef PX_CUSTOM_GEOMETRY_EXT_H
#define PX_CUSTOM_GEOMETRY_EXT_H
#include <geometry/PxCustomGeometry.h>
#include <geometry/PxGjkQuery.h>
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxGeometry;
class PxMassProperties;
class PxGeometryHolder;
struct PxContactPoint;
class PxCustomGeometryExt
{
public:
struct BaseConvexCallbacks : PxCustomGeometry::Callbacks, PxGjkQuery::Support
{
float margin;
BaseConvexCallbacks(float _margin) : margin(_margin) {}
// override PxCustomGeometry::Callbacks
virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
PxContactBuffer& contactBuffer) const;
virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext*) const;
virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext*) const;
virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext*) const;
virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const;
// override PxGjkQuery::Support
virtual PxReal getMargin() const { return margin; }
protected:
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const = 0;
};
struct CylinderCallbacks : BaseConvexCallbacks
{
float height;
float radius;
int axis;
CylinderCallbacks(float height, float radius, int axis = 0, float margin = 0);
// override PxCustomGeometry::Callbacks
DECLARE_CUSTOM_GEOMETRY_TYPE
virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
// override PxGjkQuery::Support
virtual PxVec3 supportLocal(const PxVec3& dir) const;
protected:
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const;
// Radius at height
float getRadiusAtHeight(float height) const;
};
struct ConeCallbacks : BaseConvexCallbacks
{
float height;
float radius;
int axis;
ConeCallbacks(float height, float radius, int axis = 0, float margin = 0);
// override PxCustomGeometry::Callbacks
DECLARE_CUSTOM_GEOMETRY_TYPE
virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
// override PxGjkQuery::Support
virtual PxVec3 supportLocal(const PxVec3& dir) const;
protected:
// Substitute geometry
virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const;
// Radius at height
float getRadiusAtHeight(float height) const;
};
};
#if !PX_DOXYGEN
}
#endif
#endif