include/geometry/PxCustomGeometry.h
File members: include/geometry/PxCustomGeometry.h
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// Copyright (c) 2008-2024 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_CUSTOMGEOMETRY_H
#define PX_CUSTOMGEOMETRY_H
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"
#include "foundation/PxFoundationConfig.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxContactBuffer;
class PxRenderOutput;
class PxMassProperties;
class PxCustomGeometry : public PxGeometry
{
public:
PX_PHYSX_COMMON_API static PxU32 getUniqueID();
struct Type
{
PX_INLINE Type() : mID(getUniqueID()) {}
PX_INLINE Type(const Type& t) : mID(t.mID) {}
PX_INLINE Type& operator = (const Type& t) { mID = t.mID; return *this; }
PX_INLINE bool operator == (const Type& t) const { return mID == t.mID; }
PX_INLINE bool operator != (const Type& t) const { return mID != t.mID; }
PX_INLINE static Type INVALID() { PxU32 z(0); return reinterpret_cast<const Type&>(z); }
private:
PxU32 mID;
};
struct Callbacks
{
virtual Type getCustomType() const = 0;
virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const = 0;
virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
PxContactBuffer& contactBuffer) const = 0;
virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext* threadContext) const = 0;
virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext* threadContext) const = 0;
virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext* threadContext) const = 0;
virtual void visualize(const PxGeometry& geometry, PxRenderOutput& out, const PxTransform& absPose, const PxBounds3& cullbox) const = 0;
virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const = 0;
virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const = 0;
/* Destructor */
virtual ~Callbacks() {}
};
PX_INLINE PxCustomGeometry() :
PxGeometry(PxGeometryType::eCUSTOM),
callbacks(NULL)
{}
PX_INLINE PxCustomGeometry(Callbacks& _callbacks) :
PxGeometry(PxGeometryType::eCUSTOM),
callbacks(&_callbacks)
{}
PX_INLINE PxCustomGeometry(const PxCustomGeometry& that) :
PxGeometry(that),
callbacks(that.callbacks)
{}
PX_INLINE void operator=(const PxCustomGeometry& that)
{
mType = that.mType;
callbacks = that.callbacks;
}
PX_INLINE bool isValid() const;
PX_INLINE Type getCustomType() const
{
return callbacks ? callbacks->getCustomType() : Type::INVALID();
}
public:
Callbacks* callbacks;
};
PX_INLINE bool PxCustomGeometry::isValid() const
{
return mType == PxGeometryType::eCUSTOM && callbacks != NULL;
}
#if !PX_DOXYGEN
} // namespace physx
#endif
#define DECLARE_CUSTOM_GEOMETRY_TYPE \
static ::physx::PxCustomGeometry::Type TYPE(); \
virtual ::physx::PxCustomGeometry::Type getCustomType() const;
#define IMPLEMENT_CUSTOM_GEOMETRY_TYPE(CLASS) \
::physx::PxCustomGeometry::Type CLASS::TYPE() \
{ \
static ::physx::PxCustomGeometry::Type customType; \
return customType; \
} \
::physx::PxCustomGeometry::Type CLASS::getCustomType() const \
{ \
return TYPE(); \
}
#endif