PxGeometryQuery.h

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00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
00032 #define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
00033 
00040 #define PX_MAX_SWEEP_DISTANCE 1e8f
00041 
00046 #include "common/PxPhysXCommonConfig.h"
00047 #include "PxQueryReport.h"
00048 
00049 #if !PX_DOXYGEN
00050 namespace physx
00051 {
00052 #endif
00053 
00054 class PxGeometry;
00055 struct PxSweepHit;
00056 struct PxRaycastHit;
00057 
00058 class PxTriangle;
00059 
00063 class PxGeometryQuery
00064 {
00065 public:
00066 
00091     PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir, 
00092                             const PxReal maxDist,
00093                             const PxGeometry& geom0,
00094                             const PxTransform& pose0,
00095                             const PxGeometry& geom1,
00096                             const PxTransform& pose1,
00097                             PxSweepHit& sweepHit,
00098                             PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
00099                             const PxReal inflation = 0.f);
00100 
00101 
00118     PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
00119                                             const PxGeometry& geom1, const PxTransform& pose1);
00120 
00121 
00137     PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& origin,
00138                             const PxVec3& unitDir,
00139                             const PxGeometry& geom,
00140                             const PxTransform& pose,
00141                             PxReal maxDist,
00142                             PxHitFlags hitFlags,
00143                             PxU32 maxHits,
00144                             PxRaycastHit* PX_RESTRICT rayHits);
00145 
00176     PX_PHYSX_COMMON_API static bool     computePenetration(PxVec3& direction, PxF32& depth,
00177                                             const PxGeometry& geom0, const PxTransform& pose0,
00178                                             const PxGeometry& geom1, const PxTransform& pose1);
00179 
00193     PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
00194 
00195 
00206     PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
00207 
00216     PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
00217 };
00218 
00219 
00220 #if !PX_DOXYGEN
00221 }
00222 #endif
00223 
00225 #endif


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