195 lines
8.1 KiB
C
195 lines
8.1 KiB
C
|
// This code contains NVIDIA Confidential Information and is disclosed to you
|
||
|
|
// under a form of NVIDIA software license agreement provided separately to you.
|
||
|
|
//
|
||
|
|
// Notice
|
||
|
|
// NVIDIA Corporation and its licensors retain all intellectual property and
|
||
|
|
// proprietary rights in and to this software and related documentation and
|
||
|
|
// any modifications thereto. Any use, reproduction, disclosure, or
|
||
|
|
// distribution of this software and related documentation without an express
|
||
|
|
// license agreement from NVIDIA Corporation is strictly prohibited.
|
||
|
|
//
|
||
|
|
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
|
||
|
|
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
|
||
|
|
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
|
||
|
|
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
//
|
||
|
|
// Information and code furnished is believed to be accurate and reliable.
|
||
|
|
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
|
||
|
|
// information or for any infringement of patents or other rights of third parties that may
|
||
|
|
// result from its use. No license is granted by implication or otherwise under any patent
|
||
|
|
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
|
||
|
|
// This code supersedes and replaces all information previously supplied.
|
||
|
|
// NVIDIA Corporation products are not authorized for use as critical
|
||
|
|
// components in life support devices or systems without express written approval of
|
||
|
|
// NVIDIA Corporation.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2013 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_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
|
||
|
|
#define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
|
||
|
|
|
||
|
|
/** \addtogroup geomutils
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "common/PxPhysXCommon.h"
|
||
|
|
#include "PxSceneQueryReport.h"
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
class PxGeometry;
|
||
|
|
struct PxSweepHit;
|
||
|
|
struct PxRaycastHit;
|
||
|
|
|
||
|
|
class PxTriangle;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
|
||
|
|
*/
|
||
|
|
class PxGeometryQuery
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Sweep a specified geometry object in space and test for collision with a given object.
|
||
|
|
|
||
|
|
The following combinations are supported.
|
||
|
|
|
||
|
|
\li PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
\li PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
\li PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
\li PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
|
||
|
|
\param[in] unitDir Normalized direction along which object geom0 should be swept.
|
||
|
|
\param[in] distance Sweep distance. Needs to be larger than 0.
|
||
|
|
\param[in] geom0 The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry
|
||
|
|
\param[in] pose0 Pose of the geometry object to sweep
|
||
|
|
\param[in] geom1 The geometry object to test the sweep against
|
||
|
|
\param[in] pose1 Pose of the geometry object to sweep against
|
||
|
|
\param[out] sweepHit The sweep hit information. Only valid if this method returns true.
|
||
|
|
\param[in] hintFlags Specification of the kind of information to retrieve on hit. Combination of #PxSceneQueryFlag flags
|
||
|
|
\param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
|
||
|
|
\return True if the swept geometry object geom0 hits the object geom1
|
||
|
|
|
||
|
|
@see PxSweepHit PxGeometry PxTransform
|
||
|
|
*/
|
||
|
|
PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir,
|
||
|
|
const PxReal distance,
|
||
|
|
const PxGeometry& geom0,
|
||
|
|
const PxTransform& pose0,
|
||
|
|
const PxGeometry& geom1,
|
||
|
|
const PxTransform& pose1,
|
||
|
|
PxSweepHit& sweepHit,
|
||
|
|
PxSceneQueryFlags hintFlags=(PxSceneQueryFlags)0xffffffff,
|
||
|
|
const PxReal inflation = 0.f);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Overlap test for two geometry objects.
|
||
|
|
|
||
|
|
All combinations are supported except:
|
||
|
|
\li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
\li PxConvexMeshGeometry vs. {PxTriangleMeshGeometry}
|
||
|
|
\li PxTriangleMeshGeometry vs. {PxTriangleMeshGeometry, PxHeightFieldGeometry}
|
||
|
|
\li PxHeightFieldGeometry vs. {PxHeightFieldGeometry}
|
||
|
|
|
||
|
|
\param[in] geom0 The first geometry object
|
||
|
|
\param[in] pose0 Pose of the first geometry object
|
||
|
|
\param[in] geom1 The second geometry object
|
||
|
|
\param[in] pose1 Pose of the second geometry object
|
||
|
|
\return True if the two geometry objects overlap
|
||
|
|
|
||
|
|
@see PxGeometry PxTransform
|
||
|
|
*/
|
||
|
|
PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
|
||
|
|
const PxGeometry& geom1, const PxTransform& pose1);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Raycast test against a geometry object.
|
||
|
|
|
||
|
|
\param[in] rayOrigin The origin of the ray to test the geometry object against
|
||
|
|
\param[in] rayDir The direction of the ray to test the geometry object against
|
||
|
|
\param[in] geom The geometry object to test the ray against
|
||
|
|
\param[in] pose Pose of the geometry object
|
||
|
|
\param[in] maxDist Maximum ray length
|
||
|
|
\param[in] hintFlags Specification of the kind of information to retrieve on hit. Combination of #PxSceneQueryFlag flags
|
||
|
|
\param[in] maxHits max number of returned hits = size of 'rayHits' buffer
|
||
|
|
\param[out] rayHits Raycast hits information
|
||
|
|
\param[in] firstHit Set to false if the closest hit point should be computed, else the query aborts as soon as the first valid hit point is found.
|
||
|
|
\return Number of hits between the ray and the geometry object
|
||
|
|
|
||
|
|
@see PxRaycastHit PxGeometry PxTransform
|
||
|
|
*/
|
||
|
|
PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& rayOrigin,
|
||
|
|
const PxVec3& rayDir,
|
||
|
|
const PxGeometry& geom,
|
||
|
|
const PxTransform& pose,
|
||
|
|
PxReal maxDist,
|
||
|
|
PxSceneQueryFlags hintFlags,
|
||
|
|
PxU32 maxHits,
|
||
|
|
PxRaycastHit* PX_RESTRICT rayHits,
|
||
|
|
bool firstHit = false);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Compute minimum translational distance (MTD) between two geometry objects.
|
||
|
|
|
||
|
|
All combinations of geom objects are supported except:
|
||
|
|
- any combination involving a heightfield
|
||
|
|
- plane/plane
|
||
|
|
- plane/mesh
|
||
|
|
- mesh/mesh
|
||
|
|
|
||
|
|
The function returns a unit vector ('mtd') and a penetration depth ('depth').
|
||
|
|
|
||
|
|
The depenetration vector D = mtd * depth should be applied to the first object, to
|
||
|
|
get out of the second object.
|
||
|
|
|
||
|
|
Returned depth should always be positive or null.
|
||
|
|
|
||
|
|
If objects do not overlap, the function can not compute the MTD and returns false.
|
||
|
|
|
||
|
|
\param[out] mtd Computed MTD unit direction
|
||
|
|
\param[out] depth Penetration depth. Always positive or null.
|
||
|
|
\param[in] geom0 The first geometry object
|
||
|
|
\param[in] pose0 Pose of the first geometry object
|
||
|
|
\param[in] geom1 The second geometry object
|
||
|
|
\param[in] pose1 Pose of the second geometry object
|
||
|
|
\return True if the MTD has successfully been computed, i.e. if objects do overlap.
|
||
|
|
|
||
|
|
@see PxGeometry PxTransform
|
||
|
|
*/
|
||
|
|
PX_PHYSX_COMMON_API static bool mtd(PxVec3& mtd, PxF32& depth,
|
||
|
|
const PxGeometry& geom0, const PxTransform& pose0,
|
||
|
|
const PxGeometry& geom1, const PxTransform& pose1);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Computes distance between a point and a geometry object.
|
||
|
|
|
||
|
|
Currently supported geometry objects: box, sphere, capsule, convex.
|
||
|
|
|
||
|
|
\param[in] point The point P
|
||
|
|
\param[in] geom The geometry object
|
||
|
|
\param[in] pose Pose of the geometry object
|
||
|
|
\param[out] closestPoint Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
|
||
|
|
\return Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if the geometry type is not supported.
|
||
|
|
|
||
|
|
@see PxGeometry PxTransform
|
||
|
|
*/
|
||
|
|
PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif
|