include/geometry/PxGjkQuery.h

File members: include/geometry/PxGjkQuery.h

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#ifndef PX_GJK_QUERY_H
#define PX_GJK_QUERY_H

#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxGjkQuery
{
public:

    struct Support
    {
        /* Virtual destructor */
        virtual ~Support() {}
        virtual PxReal getMargin() const = 0;
        virtual PxVec3 supportLocal(const PxVec3& dir) const = 0;
    };

    PX_PHYSX_COMMON_API 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);

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

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

    PX_PHYSX_COMMON_API 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);
};

#if !PX_DOXYGEN
}
#endif

#endif