CustomConvex.h

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#ifndef CUSTOM_CONVEX_H
#define CUSTOM_CONVEX_H
 
#include "PxPhysicsAPI.h"
 
struct CustomConvex : physx::PxCustomGeometry::Callbacks, physx::PxGjkQuery::Support
{
    float margin;
 
    CustomConvex(float margin);
 
    // override PxCustomGeometry::Callbacks
 
    virtual physx::PxBounds3 getLocalBounds(const physx::PxGeometry&) const;
    virtual bool generateContacts(const physx::PxGeometry& geom0, const physx::PxGeometry& geom1, const physx::PxTransform& pose0, const physx::PxTransform& pose1,
        const physx::PxReal contactDistance, const physx::PxReal meshContactMargin, const physx::PxReal toleranceLength,
        physx::PxContactBuffer& contactBuffer) const;
    virtual physx::PxU32 raycast(const physx::PxVec3& origin, const physx::PxVec3& unitDir, const physx::PxGeometry& geom, const physx::PxTransform& pose,
        physx::PxReal maxDist, physx::PxHitFlags hitFlags, physx::PxU32 maxHits, physx::PxGeomRaycastHit* rayHits, physx::PxU32 stride, physx::PxRaycastThreadContext*) const;
    virtual bool overlap(const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1, physx::PxOverlapThreadContext*) const;
    virtual bool sweep(const physx::PxVec3& unitDir, const physx::PxReal maxDist,
        const physx::PxGeometry& geom0, const physx::PxTransform& pose0, const physx::PxGeometry& geom1, const physx::PxTransform& pose1,
        physx::PxGeomSweepHit& sweepHit, physx::PxHitFlags hitFlags, const physx::PxReal inflation, physx::PxSweepThreadContext*) const;
    virtual void visualize(const physx::PxGeometry&, physx::PxRenderOutput&, const physx::PxTransform&, const physx::PxBounds3&) const {}
    virtual bool usePersistentContactManifold(const physx::PxGeometry&, physx::PxReal&) const { return true; }
 
    // override PxGjkQuery::Support
 
    virtual physx::PxReal getMargin() const;
};
struct CustomCylinder : CustomConvex
{
    float height, radius;
 
    CustomCylinder(float _height, float _radius, float _margin) : CustomConvex(_margin), height(_height), radius(_radius) {}
 
    // override PxCustomGeometry::Callbacks
 
    DECLARE_CUSTOM_GEOMETRY_TYPE
 
    virtual void computeMassProperties(const physx::PxGeometry& geometry, physx::PxMassProperties& massProperties) const;
 
    // override PxGjkQuery::Support
 
    virtual physx::PxVec3 supportLocal(const physx::PxVec3& dir) const;
};
struct CustomCone : CustomConvex
{
    float height, radius;
 
    CustomCone(float _height, float _radius, float _margin) : CustomConvex(_margin), height(_height), radius(_radius) {}
 
    // override PxCustomGeometry::Callbacks
 
    DECLARE_CUSTOM_GEOMETRY_TYPE
 
    virtual void computeMassProperties(const physx::PxGeometry& geometry, physx::PxMassProperties& massProperties) const;
 
    // override PxGjkQuery::Support
 
    virtual physx::PxVec3 supportLocal(const physx::PxVec3& dir) const;
};
 
#endif