Program Listing for include/extensions/PxGjkQueryExt.h
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// Copyright (c) 2008-2023 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_GJK_QUERY_EXT_H
#define PX_GJK_QUERY_EXT_H
#include "geometry/PxGjkQuery.h"
#include "geometry/PxGeometry.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxSphereGeometry;
class PxCapsuleGeometry;
class PxBoxGeometry;
class PxConvexMeshGeometry;
class PxContactBuffer;
class PxConvexMesh;
class PxGjkQueryExt
{
public:
struct SphereSupport : PxGjkQuery::Support
{
PxReal radius;
SphereSupport();
SphereSupport(PxReal radius);
SphereSupport(const PxSphereGeometry& geom);
virtual PxReal getMargin() const;
virtual PxVec3 supportLocal(const PxVec3& dir) const;
};
struct CapsuleSupport : PxGjkQuery::Support
{
PxReal radius, halfHeight;
CapsuleSupport();
CapsuleSupport(PxReal radius, PxReal halfHeight);
CapsuleSupport(const PxCapsuleGeometry& geom);
virtual PxReal getMargin() const;
virtual PxVec3 supportLocal(const PxVec3& dir) const;
};
struct BoxSupport : PxGjkQuery::Support
{
PxVec3 halfExtents;
PxReal margin;
BoxSupport();
BoxSupport(const PxVec3& halfExtents, PxReal margin = 0);
BoxSupport(const PxBoxGeometry& box, PxReal margin = 0);
virtual PxReal getMargin() const;
virtual PxVec3 supportLocal(const PxVec3& dir) const;
};
struct ConvexMeshSupport : PxGjkQuery::Support
{
const PxConvexMesh* convexMesh;
PxVec3 scale;
PxQuat scaleRotation;
PxReal margin;
ConvexMeshSupport();
ConvexMeshSupport(const PxConvexMesh& convexMesh, const PxVec3& scale = PxVec3(1), const PxQuat& scaleRotation = PxQuat(PxIdentity), PxReal margin = 0);
ConvexMeshSupport(const PxConvexMeshGeometry& convexMesh, PxReal margin = 0);
virtual PxReal getMargin() const;
virtual PxVec3 supportLocal(const PxVec3& dir) const;
};
struct ConvexGeomSupport : PxGjkQuery::Support
{
ConvexGeomSupport();
ConvexGeomSupport(const PxGeometry& geom, PxReal margin = 0);
~ConvexGeomSupport();
bool isValid() const;
virtual PxReal getMargin() const;
virtual PxVec3 supportLocal(const PxVec3& dir) const;
private:
PxGeometryType::Enum mType;
union {
void* alignment;
PxU8 sphere[sizeof(SphereSupport)];
PxU8 capsule[sizeof(CapsuleSupport)];
PxU8 box[sizeof(BoxSupport)];
PxU8 convexMesh[sizeof(ConvexMeshSupport)];
} mSupport;
};
static bool generateContacts(const PxGjkQuery::Support& a, const PxGjkQuery::Support& b, const PxTransform& poseA, const PxTransform& poseB,
PxReal contactDistance, PxReal toleranceLength, PxContactBuffer& contactBuffer);
};
#if !PX_DOXYGEN
}
#endif
#endif