include/extensions/PxGjkQueryExt.h

File members: include/extensions/PxGjkQueryExt.h

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#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