195 lines
8.1 KiB
C++
195 lines
8.1 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
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#define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommon.h"
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#include "PxSceneQueryReport.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxGeometry;
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struct PxSweepHit;
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struct PxRaycastHit;
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class PxTriangle;
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/**
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\brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
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*/
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class PxGeometryQuery
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{
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public:
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/**
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\brief Sweep a specified geometry object in space and test for collision with a given object.
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The following combinations are supported.
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\li PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\param[in] unitDir Normalized direction along which object geom0 should be swept.
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\param[in] distance Sweep distance. Needs to be larger than 0.
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\param[in] geom0 The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry
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\param[in] pose0 Pose of the geometry object to sweep
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\param[in] geom1 The geometry object to test the sweep against
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\param[in] pose1 Pose of the geometry object to sweep against
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\param[out] sweepHit The sweep hit information. Only valid if this method returns true.
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\param[in] hintFlags Specification of the kind of information to retrieve on hit. Combination of #PxSceneQueryFlag flags
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\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.
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\return True if the swept geometry object geom0 hits the object geom1
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@see PxSweepHit PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir,
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const PxReal distance,
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const PxGeometry& geom0,
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const PxTransform& pose0,
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const PxGeometry& geom1,
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const PxTransform& pose1,
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PxSweepHit& sweepHit,
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PxSceneQueryFlags hintFlags=(PxSceneQueryFlags)0xffffffff,
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const PxReal inflation = 0.f);
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/**
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\brief Overlap test for two geometry objects.
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All combinations are supported except:
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\li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxConvexMeshGeometry vs. {PxTriangleMeshGeometry}
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\li PxTriangleMeshGeometry vs. {PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxHeightFieldGeometry vs. {PxHeightFieldGeometry}
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\param[in] geom0 The first geometry object
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\param[in] pose0 Pose of the first geometry object
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\param[in] geom1 The second geometry object
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\param[in] pose1 Pose of the second geometry object
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\return True if the two geometry objects overlap
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
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const PxGeometry& geom1, const PxTransform& pose1);
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/**
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\brief Raycast test against a geometry object.
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\param[in] rayOrigin The origin of the ray to test the geometry object against
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\param[in] rayDir The direction of the ray to test the geometry object against
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\param[in] geom The geometry object to test the ray against
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\param[in] pose Pose of the geometry object
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\param[in] maxDist Maximum ray length
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\param[in] hintFlags Specification of the kind of information to retrieve on hit. Combination of #PxSceneQueryFlag flags
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\param[in] maxHits max number of returned hits = size of 'rayHits' buffer
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\param[out] rayHits Raycast hits information
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\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.
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\return Number of hits between the ray and the geometry object
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@see PxRaycastHit PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& rayOrigin,
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const PxVec3& rayDir,
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const PxGeometry& geom,
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const PxTransform& pose,
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PxReal maxDist,
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PxSceneQueryFlags hintFlags,
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PxU32 maxHits,
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PxRaycastHit* PX_RESTRICT rayHits,
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bool firstHit = false);
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/**
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\brief Compute minimum translational distance (MTD) between two geometry objects.
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All combinations of geom objects are supported except:
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- any combination involving a heightfield
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- plane/plane
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- plane/mesh
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- mesh/mesh
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The function returns a unit vector ('mtd') and a penetration depth ('depth').
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The depenetration vector D = mtd * depth should be applied to the first object, to
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get out of the second object.
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Returned depth should always be positive or null.
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If objects do not overlap, the function can not compute the MTD and returns false.
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\param[out] mtd Computed MTD unit direction
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\param[out] depth Penetration depth. Always positive or null.
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\param[in] geom0 The first geometry object
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\param[in] pose0 Pose of the first geometry object
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\param[in] geom1 The second geometry object
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\param[in] pose1 Pose of the second geometry object
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\return True if the MTD has successfully been computed, i.e. if objects do overlap.
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool mtd(PxVec3& mtd, PxF32& depth,
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const PxGeometry& geom0, const PxTransform& pose0,
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const PxGeometry& geom1, const PxTransform& pose1);
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/**
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\brief Computes distance between a point and a geometry object.
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Currently supported geometry objects: box, sphere, capsule, convex.
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\param[in] point The point P
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\param[in] geom The geometry object
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\param[in] pose Pose of the geometry object
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\param[out] closestPoint Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
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\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.
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
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};
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#ifndef PX_DOXYGEN
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}
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#endif
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/** @} */
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#endif
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