include/geometry/PxGjkQuery.h
File members: include/geometry/PxGjkQuery.h
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#ifndef PX_GJK_QUERY_H
#define PX_GJK_QUERY_H
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxTransform.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxGjkQuery
{
public:
struct Support
{
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