include/geometry/PxGeometryQuery.h

File members: include/geometry/PxGeometryQuery.h

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#ifndef PX_GEOMETRY_QUERY_H
#define PX_GEOMETRY_QUERY_H

#define PX_MAX_SWEEP_DISTANCE 1e8f

#include "common/PxPhysXCommonConfig.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryFlags.h"
#include "geometry/PxGeometryQueryContext.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxGeometry;
class PxContactBuffer;

class PxGeometryQuery
{
public:

    PX_PHYSX_COMMON_API static PxU32 raycast(   const PxVec3& origin, const PxVec3& unitDir,
                                                const PxGeometry& geom, const PxTransform& pose,
                                                PxReal maxDist, PxHitFlags hitFlags,
                                                PxU32 maxHits, PxGeomRaycastHit* PX_RESTRICT rayHits, PxU32 stride = sizeof(PxGeomRaycastHit), PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
                                                PxRaycastThreadContext* threadContext = NULL);

    PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1,
                                            PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext* threadContext=NULL);

    PX_PHYSX_COMMON_API static bool sweep(  const PxVec3& unitDir, const PxReal maxDist,
                                            const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1,
                                            PxGeomSweepHit& sweepHit, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
                                            const PxReal inflation = 0.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
                                            PxSweepThreadContext* threadContext = NULL);

    PX_PHYSX_COMMON_API static bool computePenetration( PxVec3& direction, PxF32& depth,
                                                        const PxGeometry& geom0, const PxTransform& pose0,
                                                        const PxGeometry& geom1, const PxTransform& pose1,
                                                        PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

    PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose,
                                                    PxVec3* closestPoint=NULL, PxU32* closestIndex=NULL,
                                                    PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

    PX_PHYSX_COMMON_API static void computeGeomBounds(PxBounds3& bounds, const PxGeometry& geom, const PxTransform& pose, float offset=0.0f, float inflation=1.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

    PX_PHYSX_COMMON_API static bool generateTriangleContacts(const PxGeometry& geom, const PxTransform& pose, const PxVec3 triangleVertices[3], PxU32 triangleIndex, PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxContactBuffer& contactBuffer);

    PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
};

#if !PX_DOXYGEN
}
#endif

#endif