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29
30#ifndef PX_RAYCAST_CCD_H
31#define PX_RAYCAST_CCD_H
32/** \addtogroup extensions
33@{
34*/
35
36#include "common/PxPhysXCommonConfig.h"
37#include "foundation/PxVec3.h"
38
39#if !PX_DOXYGEN
40namespace physx
41{
42#endif
43
44 class PxScene;
45 class PxShape;
46 class PxRigidDynamic;
47 class RaycastCCDManagerInternal;
48
49 /**
50 \brief Raycast-CCD manager.
51
52 Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.
53
54 This implementation has some limitations:
55 - it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
56 - it is only implemented for simple actors with 1 shape (not for "compounds")
57
58 Also, since it is raycast-based, the solution is not perfect. In particular:
59 - small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small
60 hole in the world (like the keyhole from a door).
61 - dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against
62 slow-moving dynamic objects.
63
64 Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have
65 scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE
66 (and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.
67 */
68 class RaycastCCDManager
69 {
70 public:
71 RaycastCCDManager(PxScene* scene);
72 ~RaycastCCDManager();
73
74 /**
75 \brief Register dynamic object for raycast CCD.
76
77 \param[in] actor object's actor
78 \param[in] shape object's shape
79
80 \return True if success
81 */
82 bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
83
84 /**
85 \brief Perform raycast CCD. Call this after your simulate/fetchResults calls.
86
87 \param[in] doDynamicDynamicCCD True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)
88 */
89 void doRaycastCCD(bool doDynamicDynamicCCD);
90
91 private:
92 RaycastCCDManagerInternal* mImpl;
93 };
94
95#if !PX_DOXYGEN
96} // namespace physx
97#endif
98
99/** @} */
100#endif
101

source code of qtquick3dphysics/src/3rdparty/PhysX/include/extensions/PxRaycastCCD.h