include/geometry/PxGeometryQuery.h
File members: include/geometry/PxGeometryQuery.h
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_GEOMETRY_QUERY_H
#define PX_GEOMETRY_QUERY_H
#define PX_MAX_SWEEP_DISTANCE 1e8f
#include "foundation/PxTransform.h"
#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 PxBounds3;
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