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25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_EXTENSIONS_SHAPE_H |
32 | #define PX_PHYSICS_EXTENSIONS_SHAPE_H |
33 | /** \addtogroup extensions |
34 | @{ |
35 | */ |
36 | |
37 | #include "PxPhysXConfig.h" |
38 | |
39 | #include "PxShape.h" |
40 | #include "PxRigidActor.h" |
41 | #include "geometry/PxGeometryQuery.h" |
42 | |
43 | #if !PX_DOXYGEN |
44 | namespace physx |
45 | { |
46 | #endif |
47 | |
48 | /** |
49 | \brief utility functions for use with PxShape |
50 | |
51 | @see PxShape |
52 | */ |
53 | |
54 | class PxShapeExt |
55 | { |
56 | public: |
57 | /** |
58 | \brief Retrieves the world space pose of the shape. |
59 | |
60 | \param[in] shape The shape for which to get the global pose. |
61 | \param[in] actor The actor to which the shape is attached |
62 | |
63 | \return Global pose of shape. |
64 | */ |
65 | static PX_INLINE PxTransform getGlobalPose(const PxShape& shape, const PxRigidActor& actor) |
66 | { |
67 | return actor.getGlobalPose() * shape.getLocalPose(); |
68 | } |
69 | |
70 | /** |
71 | \brief Raycast test against the shape. |
72 | |
73 | \param[in] shape the shape |
74 | \param[in] actor the actor to which the shape is attached |
75 | \param[in] rayOrigin The origin of the ray to test the geometry object against |
76 | \param[in] rayDir The direction of the ray to test the geometry object against |
77 | \param[in] maxDist Maximum ray length |
78 | \param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags |
79 | \param[in] maxHits max number of returned hits = size of 'rayHits' buffer |
80 | \param[out] rayHits Raycast hits information |
81 | \return Number of hits between the ray and the shape |
82 | |
83 | @see PxRaycastHit PxTransform |
84 | */ |
85 | static PX_INLINE PxU32 raycast(const PxShape& shape, const PxRigidActor& actor, |
86 | const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags, |
87 | PxU32 maxHits, PxRaycastHit* rayHits) |
88 | { |
89 | return PxGeometryQuery::raycast( |
90 | origin: rayOrigin, unitDir: rayDir, geom: shape.getGeometry().any(), pose: getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits); |
91 | } |
92 | |
93 | /** |
94 | \brief Test overlap between the shape and a geometry object |
95 | |
96 | \param[in] shape the shape |
97 | \param[in] actor the actor to which the shape is attached |
98 | \param[in] otherGeom The other geometry object to test overlap with |
99 | \param[in] otherGeomPose Pose of the other geometry object |
100 | \return True if the shape overlaps the geometry object |
101 | |
102 | @see PxGeometry PxTransform |
103 | */ |
104 | static PX_INLINE bool overlap(const PxShape& shape, const PxRigidActor& actor, |
105 | const PxGeometry& otherGeom, const PxTransform& otherGeomPose) |
106 | { |
107 | return PxGeometryQuery::overlap(geom0: shape.getGeometry().any(), pose0: getGlobalPose(shape, actor), geom1: otherGeom, pose1: otherGeomPose); |
108 | } |
109 | |
110 | /** |
111 | \brief Sweep a geometry object against the shape. |
112 | |
113 | Currently only box, sphere, capsule and convex mesh shapes are supported, i.e. the swept geometry object must be one of those types. |
114 | |
115 | \param[in] shape the shape |
116 | \param[in] actor the actor to which the shape is attached |
117 | \param[in] unitDir Normalized direction along which the geometry object should be swept. |
118 | \param[in] distance Sweep distance. Needs to be larger than 0. |
119 | \param[in] otherGeom The geometry object to sweep against the shape |
120 | \param[in] otherGeomPose Pose of the geometry object |
121 | \param[out] sweepHit The sweep hit information. Only valid if this method returns true. |
122 | \param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags |
123 | \return True if the swept geometry object hits the shape |
124 | |
125 | @see PxGeometry PxTransform PxSweepHit |
126 | */ |
127 | static PX_INLINE bool sweep(const PxShape& shape, const PxRigidActor& actor, |
128 | const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose, |
129 | PxSweepHit& sweepHit, PxHitFlags hitFlags) |
130 | { |
131 | return PxGeometryQuery::sweep(unitDir, maxDist: distance, geom0: otherGeom, pose0: otherGeomPose, geom1: shape.getGeometry().any(), pose1: getGlobalPose(shape, actor), sweepHit, hitFlags); |
132 | } |
133 | |
134 | |
135 | /** |
136 | \brief Retrieves the axis aligned bounding box enclosing the shape. |
137 | |
138 | \return The shape's bounding box. |
139 | |
140 | \param[in] shape the shape |
141 | \param[in] actor the actor to which the shape is attached |
142 | \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value. |
143 | |
144 | @see PxBounds3 |
145 | */ |
146 | static PX_INLINE PxBounds3 getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f) |
147 | { |
148 | return PxGeometryQuery::getWorldBounds(geom: shape.getGeometry().any(), pose: getGlobalPose(shape, actor), inflation); |
149 | } |
150 | |
151 | }; |
152 | |
153 | #if !PX_DOXYGEN |
154 | } // namespace physx |
155 | #endif |
156 | |
157 | /** @} */ |
158 | #endif |
159 | |