include/extensions/PxTriangleMeshExt.h

File members: include/extensions/PxTriangleMeshExt.h

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#ifndef PX_TRIANGLE_MESH_EXT_H
#define PX_TRIANGLE_MESH_EXT_H

#include "PxPhysXConfig.h"
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxArray.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxGeometry;
class PxTriangleMesh;
class PxTriangleMeshGeometry;
class PxHeightFieldGeometry;

    class PxMeshOverlapUtil
    {
        public:
                                        PxMeshOverlapUtil();
                                        ~PxMeshOverlapUtil();
                        PxU32           findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose);

                        PxU32           findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose);

        PX_FORCE_INLINE const PxU32*    getResults()    const   { return mResultsMemory;    }

        PX_FORCE_INLINE PxU32           getNbResults()  const   { return mNbResults;        }

        private:
                        PxU32*          mResultsMemory;
                        PxU32           mResults[256];
                        PxU32           mNbResults;
                        PxU32           mMaxNbResults;
    };

    bool PxComputeTriangleMeshPenetration(PxVec3& direction,
                                          PxReal& depth,
                                          const PxGeometry& geom,
                                          const PxTransform& geomPose,
                                          const PxTriangleMeshGeometry& meshGeom,
                                          const PxTransform& meshPose,
                                          PxU32 maxIter,
                                          PxU32* usedIter = NULL);

    bool PxComputeHeightFieldPenetration(PxVec3& direction,
                                         PxReal& depth,
                                         const PxGeometry& geom,
                                         const PxTransform& geomPose,
                                         const PxHeightFieldGeometry& heightFieldGeom,
                                         const PxTransform& heightFieldPose,
                                         PxU32 maxIter,
                                         PxU32* usedIter = NULL);

    bool PxExtractIsosurfaceFromSDF(const PxTriangleMesh& triangleMesh, PxArray<PxVec3>& isosurfaceVertices, PxArray<PxU32>& isosurfaceTriangleIndices);

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif