| 1 | // |
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| 2 | // Redistribution and use in source and binary forms, with or without |
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| 3 | // modification, are permitted provided that the following conditions |
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| 4 | // are met: |
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| 5 | // * Redistributions of source code must retain the above copyright |
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| 6 | // notice, this list of conditions and the following disclaimer. |
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| 7 | // * Redistributions in binary form must reproduce the above copyright |
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| 8 | // notice, this list of conditions and the following disclaimer in the |
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| 9 | // documentation and/or other materials provided with the distribution. |
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| 10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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| 11 | // contributors may be used to endorse or promote products derived |
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| 12 | // from this software without specific prior written permission. |
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| 13 | // |
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| 14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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| 15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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| 18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
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| 19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
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| 20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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| 21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
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| 22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 25 | // |
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| 26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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| 27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
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| 28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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| 29 | |
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| 30 | |
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| 31 | #ifndef PX_PHYSICS_NX_CAPSULE_GEOMETRY |
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| 32 | #define PX_PHYSICS_NX_CAPSULE_GEOMETRY |
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| 33 | /** \addtogroup geomutils |
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| 34 | @{ |
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| 35 | */ |
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| 36 | #include "geometry/PxGeometry.h" |
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| 37 | #include "foundation/PxFoundationConfig.h" |
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| 38 | |
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| 39 | #if !PX_DOXYGEN |
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| 40 | namespace physx |
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| 41 | { |
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| 42 | #endif |
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| 43 | |
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| 44 | /** |
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| 45 | \brief Class representing the geometry of a capsule. |
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| 46 | |
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| 47 | Capsules are shaped as the union of a cylinder of length 2 * halfHeight and with the |
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| 48 | given radius centered at the origin and extending along the x axis, and two hemispherical ends. |
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| 49 | \note The scaling of the capsule is expected to be baked into these values, there is no additional scaling parameter. |
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| 50 | |
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| 51 | The function PxTransformFromSegment is a helper for generating an appropriate transform for the capsule from the capsule's interior line segment. |
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| 52 | |
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| 53 | @see PxTransformFromSegment |
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| 54 | */ |
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| 55 | class PxCapsuleGeometry : public PxGeometry |
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| 56 | { |
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| 57 | public: |
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| 58 | /** |
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| 59 | \brief Default constructor, initializes to a capsule with zero height and radius. |
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| 60 | */ |
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| 61 | PX_INLINE PxCapsuleGeometry() : PxGeometry(PxGeometryType::eCAPSULE), radius(0), halfHeight(0) {} |
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| 62 | |
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| 63 | /** |
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| 64 | \brief Constructor, initializes to a capsule with passed radius and half height. |
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| 65 | */ |
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| 66 | PX_INLINE PxCapsuleGeometry(PxReal radius_, PxReal halfHeight_) : PxGeometry(PxGeometryType::eCAPSULE), radius(radius_), halfHeight(halfHeight_) {} |
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| 67 | |
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| 68 | /** |
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| 69 | \brief Returns true if the geometry is valid. |
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| 70 | |
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| 71 | \return True if the current settings are valid. |
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| 72 | |
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| 73 | \note A valid capsule has radius > 0, halfHeight > 0. |
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| 74 | It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a capsule that has zero radius or height. |
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| 75 | |
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| 76 | @see PxRigidActor::createShape, PxPhysics::createShape |
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| 77 | */ |
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| 78 | PX_INLINE bool isValid() const; |
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| 79 | |
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| 80 | public: |
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| 81 | /** |
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| 82 | \brief The radius of the capsule. |
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| 83 | */ |
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| 84 | PxReal radius; |
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| 85 | |
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| 86 | /** |
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| 87 | \brief half of the capsule's height, measured between the centers of the hemispherical ends. |
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| 88 | */ |
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| 89 | PxReal halfHeight; |
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| 90 | }; |
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| 91 | |
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| 92 | PX_INLINE bool PxCapsuleGeometry::isValid() const |
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| 93 | { |
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| 94 | if (mType != PxGeometryType::eCAPSULE) |
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| 95 | return false; |
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| 96 | if (!PxIsFinite(f: radius) || !PxIsFinite(f: halfHeight)) |
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| 97 | return false; |
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| 98 | if (radius <= 0.0f || halfHeight <= 0.0f) |
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| 99 | return false; |
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| 100 | |
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| 101 | return true; |
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| 102 | } |
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| 103 | |
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| 104 | #if !PX_DOXYGEN |
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| 105 | } // namespace physx |
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| 106 | #endif |
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| 107 | |
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| 108 | /** @} */ |
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| 109 | #endif |
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| 110 | |
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