PxGjkQueryExt

Defined in include/extensions/PxGjkQueryExt.h

Structs

BoxSupport

Pre-made support mapping for a box.

CapsuleSupport

Pre-made support mapping for a capsule.

ConvexGeomSupport

Pre-made support mapping for any PhysX's convex geometry (sphere, capsule, box, convex mesh)

ConvexMeshSupport

Pre-made support mapping for a convex mesh.

SphereSupport

Pre-made support mapping for a sphere.

class PxGjkQueryExt

Pre-made support mapping for built-in convex geometry types.

Public Static Functions

static bool generateContacts(

const PxGjkQuery::Support &a,

const PxGjkQuery::Support &b,

const PxTransform &poseA,

const PxTransform &poseB,

PxReal contactDistance,

PxReal toleranceLength,

PxContactBuffer &contactBuffer,

)

Generates a contact point between two shapes using GJK-EPA algorithm.

Parameters:

• a – [in] Shape A support mapping

• b – [in] Shape B support mapping

• poseA – [in] Shape A transformation

• poseB – [in] Shape B transformation

• contactDistance – [in] The distance at which contacts begin to be generated between the shapes

• toleranceLength – [in] The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units

• contactBuffer – [out] A buffer to store the contact

Returns:

True if there is a contact.

struct BoxSupport : public PxGjkQuery::Support

Pre-made support mapping for a box.

Public Functions

BoxSupport()

Default constructor.

BoxSupport(const PxVec3 &halfExtents, PxReal margin = 0)

Constructs a BoxSupport for a box halfExtents with optional margin.

BoxSupport(const PxBoxGeometry &box, PxReal margin = 0)

Constructs a BoxSupport for a PxBoxGeometry.

virtual PxReal getMargin() const

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns:

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const

Return the farthest point on the user defined shape’s core in given direction.

Parameters:

dir – [in] Direction

Returns:

Farthest point in given direction.

Public Members

PxVec3 halfExtents

PxReal margin

struct CapsuleSupport : public PxGjkQuery::Support

Pre-made support mapping for a capsule.

Public Functions

CapsuleSupport()

Default constructor.

CapsuleSupport(PxReal radius, PxReal halfHeight)

Constructs a CapsuleSupport for capsule radius and halfHeight.

CapsuleSupport(const PxCapsuleGeometry &geom)

Constructs a CapsuleSupport for a PxCapsuleGeometry.

virtual PxReal getMargin() const

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns:

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const

Return the farthest point on the user defined shape’s core in given direction.

Parameters:

dir – [in] Direction

Returns:

Farthest point in given direction.

Public Members

PxReal radius

PxReal halfHeight

struct ConvexGeomSupport : public PxGjkQuery::Support

Pre-made support mapping for any PhysX’s convex geometry (sphere, capsule, box, convex mesh)

Public Functions

ConvexGeomSupport()

Default constructor.

ConvexGeomSupport(const PxGeometry &geom, PxReal margin = 0)

Constructs a BoxSupport for a PxGeometry.

~ConvexGeomSupport()

Destructor.

bool isValid() const

Returns false if ConvexGeomSupport was constructed from non-convex geometry.

virtual PxReal getMargin() const

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns:

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const

Return the farthest point on the user defined shape’s core in given direction.

Parameters:

dir – [in] Direction

Returns:

Farthest point in given direction.

Public Members

void *alignment

PxU8 sphere[sizeof(SphereSupport)]

PxU8 capsule[sizeof(CapsuleSupport)]

PxU8 box[sizeof(BoxSupport)]

PxU8 convexMesh[sizeof(ConvexMeshSupport)]

struct ConvexMeshSupport : public PxGjkQuery::Support

Pre-made support mapping for a convex mesh.

Public Functions

ConvexMeshSupport()

Default constructor.

ConvexMeshSupport(

const PxConvexMesh &convexMesh,

const PxVec3 &scale = PxVec3(1),

const PxQuat &scaleRotation = PxQuat(PxIdentity),

PxReal margin = 0,

)

Constructs a BoxSupport for a PxConvexMesh.

ConvexMeshSupport(

const PxConvexMeshGeometry &convexMesh,

PxReal margin = 0,

)

Constructs a BoxSupport for a PxConvexMeshGeometry.

virtual PxReal getMargin() const

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns:

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const

Return the farthest point on the user defined shape’s core in given direction.

Parameters:

dir – [in] Direction

Returns:

Farthest point in given direction.

Public Members

const PxConvexMesh *convexMesh

PxVec3 scale

PxQuat scaleRotation

PxReal margin

struct SphereSupport : public PxGjkQuery::Support

Pre-made support mapping for a sphere.

Public Functions

SphereSupport()

Default constructor.

SphereSupport(PxReal radius)

Constructs a SphereSupport for a sphere radius.

SphereSupport(const PxSphereGeometry &geom)

Constructs a SphereSupport for a PxSphereGeometry.

virtual PxReal getMargin() const

Return the user defined shape margin.

Margin should be greater than or equal to 0

Returns:

Margin.

virtual PxVec3 supportLocal(const PxVec3 &dir) const

Return the farthest point on the user defined shape’s core in given direction.

Parameters:

dir – [in] Direction

Returns:

Farthest point in given direction.

Public Members

PxReal radius