PxMeshQuery
Defined in include/geometry/PxMeshQuery.h

class PxMeshQuery
Public Static Functions

static void getTriangle(const PxTriangleMeshGeometry &triGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices = NULL, PxU32 *adjacencyIndices = NULL)
Retrieves triangle data from a triangle ID.
This function can be used together with findOverlapTriangleMesh() to retrieve triangle properties.
See also
PxTriangle PxTriangleFlags PxTriangleID findOverlapTriangleMesh()
Note
This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
 Parameters
triGeom – [in] Geometry of the triangle mesh to extract the triangle from.
transform – [in] Transform for the triangle mesh
triangleIndex – [in] The index of the triangle to retrieve.
triangle – [out] Triangle points in world space.
vertexIndices – [out] Returned vertex indices for given triangle
adjacencyIndices – [out] Returned 3 triangle adjacency internal face indices (0xFFFFFFFF if no adjacency). The mesh must be cooked with cooking param buildTriangleAdjacencies enabled.

static void getTriangle(const PxHeightFieldGeometry &hfGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices = NULL, PxU32 *adjacencyIndices = NULL)
Retrieves triangle data from a triangle ID.
This function can be used together with findOverlapHeightField() to retrieve triangle properties.
See also
PxTriangle PxTriangleFlags PxTriangleID findOverlapHeightField()
Note
This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
Note
TriangleIndex is an index used in internal format, which does have an index out of the bounds in last row. To traverse all tri indices in the HF, the following code can be applied: for (PxU32 row = 0; row < (nbRows  1); row++) { for (PxU32 col = 0; col < (nbCols  1); col++) { for (PxU32 k = 0; k < 2; k++) { const PxU32 triIndex = 2 * (row*nbCols + col) + k; …. } } }
 Parameters
hfGeom – [in] Geometry of the height field to extract the triangle from.
transform – [in] Transform for the height field.
triangleIndex – [in] The index of the triangle to retrieve.
triangle – [out] Triangle points in world space.
vertexIndices – [out] Returned vertex indices for given triangle
adjacencyIndices – [out] Returned 3 triangle adjacency triangle indices (0xFFFFFFFF if no adjacency).

static PxU32 findOverlapTriangleMesh(const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT)
Find the mesh triangles which touch the specified geometry object.
For meshvsmesh overlap tests, please use the specialized function below.
Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.
See also
PxTriangleMeshGeometry getTriangle() PxGeometryQueryFlags
 Parameters
geom – [in] The geometry object to test for mesh triangle overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
geomPose – [in] Pose of the geometry object
meshGeom – [in] The triangle mesh geometry to check overlap against
meshPose – [in] Pose of the triangle mesh
results – [out] Indices of overlapping triangles
maxResults – [in] Size of ‘results’ buffer
startIndex – [in] Index of first result to be retrieved. Previous indices are skipped.
overflow – [out] True if a buffer overflow occurred
queryFlags – [in] Optional flags controlling the query.
 Returns
Number of overlaps found, i.e. number of elements written to the results buffer

static bool findOverlapTriangleMesh(PxReportCallback<PxGeomIndexPair> &callback, const PxTriangleMeshGeometry &meshGeom0, const PxTransform &meshPose0, const PxTriangleMeshGeometry &meshGeom1, const PxTransform &meshPose1, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT, PxMeshMeshQueryFlags meshMeshFlags = PxMeshMeshQueryFlag::eDEFAULT)
Meshvsmesh overlap test.
A specialized findOverlapTriangleMesh function for meshvsmesh. The other findOverlapTriangleMesh() function above cannot be used directly since it only returns a single set of triangle indices that belongs to one of the meshes only. This function returns pairs of triangle indices that belong to both the first & second input meshes.
Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.
See also
PxTriangleMeshGeometry getTriangle() PxReportCallback PxGeometryQueryFlags PxMeshMeshQueryFlags
Note
This is only implemented for the PxMeshMidPhase::eBVH34 data structure.
 Parameters
callback – [in] The callback object used to report results
meshGeom0 – [in] First triangle mesh geometry
meshPose0 – [in] Pose of first triangle mesh geometry
meshGeom1 – [in] Second triangle mesh geometry
meshPose1 – [in] Pose of second triangle mesh geometry
queryFlags – [in] Optional flags controlling the query.
meshMeshFlags – [in] Optional flags controlling the query.
 Returns
true if an overlap has been detected, false if the meshes are disjoint

static PxU32 findOverlapHeightField(const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &hfGeom, const PxTransform &hfPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT)
Find the height field triangles which touch the specified geometry object.
Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.
See also
PxHeightFieldGeometry getTriangle() PxGeometryQueryFlags
 Parameters
geom – [in] The geometry object to test for height field overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
geomPose – [in] Pose of the geometry object
hfGeom – [in] The height field geometry to check overlap against
hfPose – [in] Pose of the height field
results – [out] Indices of overlapping triangles
maxResults – [in] Size of ‘results’ buffer
startIndex – [in] Index of first result to be retrieved. Previous indices are skipped.
overflow – [out] True if a buffer overflow occurred
queryFlags – [in] Optional flags controlling the query.
 Returns
Number of overlaps found, i.e. number of elements written to the results buffer

static bool sweep(const PxVec3 &unitDir, const PxReal distance, const PxGeometry &geom, const PxTransform &pose, PxU32 triangleCount, const PxTriangle *triangles, PxGeomSweepHit &sweepHit, PxHitFlags hitFlags = PxHitFlag::eDEFAULT, const PxU32 *cachedIndex = NULL, const PxReal inflation = 0.0f, bool doubleSided = false, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT)
Sweep a specified geometry object in space and test for collision with a set of given triangles.
This function simply sweeps input geometry against each input triangle, in the order they are given. This is an O(N) operation with N = number of input triangles. It does not use any particular acceleration structure.
See also
PxTriangle PxSweepHit PxGeometry PxTransform PxGeometryQueryFlags
Note
Only the following geometry types are currently supported: PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry
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.
Note
This function returns a single closest hit across all the input triangles. Multiple hits are not supported.
Note
Supported hitFlags are PxHitFlag::eDEFAULT, PxHitFlag::eASSUME_NO_INITIAL_OVERLAP, PxHitFlag::ePRECISE_SWEEP, PxHitFlag::eMESH_BOTH_SIDES, PxHitFlag::eMESH_ANY.
Note
ePOSITION is only defined when there is no initial overlap (sweepHit.hadInitialOverlap() == false)
Note
The returned normal for initially overlapping sweeps is set to unitDir.
Note
Otherwise the returned normal is the front normal of the triangle even if PxHitFlag::eMESH_BOTH_SIDES is set.
Note
The returned PxGeomSweepHit::faceIndex parameter will hold the index of the hit triangle in input array, i.e. the range is [0; triangleCount). For initially overlapping sweeps, this is the index of overlapping triangle.
Note
The inflation parameter is not compatible with PxHitFlag::ePRECISE_SWEEP.
 Parameters
unitDir – [in] Normalized direction of the sweep.
distance – [in] Sweep distance. Needs to be larger than 0. Clamped to PX_MAX_SWEEP_DISTANCE.
geom – [in] The geometry object to sweep. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
pose – [in] Pose of the geometry object to sweep.
triangleCount – [in] Number of specified triangles
triangles – [in] Array of triangles to sweep against
sweepHit – [out] The sweep hit information. See the notes below for limitations about returned results.
hitFlags – [in] Specification of the kind of information to retrieve on hit. Combination of PxHitFlag flags. See the notes below for limitations about supported flags.
cachedIndex – [in] Cached triangle index for subsequent calls. Cached triangle is tested first. Optional parameter.
inflation – [in] 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.
doubleSided – [in] Counterpart of PxMeshGeometryFlag::eDOUBLE_SIDED for input triangles.
queryFlags – [in] Optional flags controlling the query.
 Returns
True if the swept geometry object hits the specified triangles

static void getTriangle(const PxTriangleMeshGeometry &triGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices = NULL, PxU32 *adjacencyIndices = NULL)