GuOverlapTests.h

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#ifndef GU_OVERLAP_TESTS_H
#define GU_OVERLAP_TESTS_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxAssert.h"
#include "foundation/PxErrors.h"
#include "foundation/PxFoundation.h"
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"
 
namespace physx
{
namespace Gu
{
    class Capsule;
    class Sphere;
 
    // PT: this is just a shadow of what it used to be. We currently don't use TRIGGER_INSIDE anymore, but I leave it for now,
    // since I really want to put this back the way it was before.
    enum TriggerStatus
    {
        TRIGGER_DISJOINT,
        TRIGGER_INSIDE,
        TRIGGER_OVERLAP
    };
 
    // PT: currently only used for convex triggers
    struct TriggerCache
    {
        PxVec3  dir;
        PxU16   state;
        PxU16   gjkState; //gjk succeed or fail
    };
 
    #define UNUSED_OVERLAP_THREAD_CONTEXT   NULL
 
    // PT: we use a define to be able to quickly change the signature of all overlap functions.
    // (this also ensures they all use consistent names for passed parameters).
    // \param[in]   geom0           first geometry object
    // \param[in]   pose0           pose of first geometry object
    // \param[in]   geom1           second geometry object
    // \param[in]   pose1           pose of second geometry object
    // \param[in]   cache           optional cached data for triggers
    // \param[in]   threadContext   optional per-thread context
    #define GU_OVERLAP_FUNC_PARAMS  const PxGeometry& geom0, const PxTransform& pose0,  \
                                    const PxGeometry& geom1, const PxTransform& pose1,  \
                                    Gu::TriggerCache* cache, PxOverlapThreadContext* threadContext
 
    // PT: function pointer for Geom-indexed overlap functions
    // See GU_OVERLAP_FUNC_PARAMS for function parameters details.
    // \return      true if an overlap was found, false otherwise
    typedef bool (*GeomOverlapFunc) (GU_OVERLAP_FUNC_PARAMS);
 
    // PT: typedef for a bundle of all overlap functions, i.e. the function table itself (indexed by geom-type).
    typedef GeomOverlapFunc GeomOverlapTable[PxGeometryType::eGEOMETRY_COUNT];
 
    // PT: retrieves the overlap function table (for access by external non-Gu modules)
    PX_PHYSX_COMMON_API const GeomOverlapTable* getOverlapFuncTable();
 
    // dynamic registration of height fields
    PX_PHYSX_COMMON_API void registerHeightFields();
 
    PX_FORCE_INLINE bool overlap(   const PxGeometry& geom0, const PxTransform& pose0,
                                    const PxGeometry& geom1, const PxTransform& pose1,
                                    const GeomOverlapTable* PX_RESTRICT overlapFuncs, PxOverlapThreadContext* threadContext)
    {
        PX_CHECK_AND_RETURN_VAL(pose0.isValid(), "Gu::overlap(): pose0 is not valid.", false);
        PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "Gu::overlap(): pose1 is not valid.", false);
        
        if(geom0.getType() > geom1.getType())
        {
            GeomOverlapFunc overlapFunc = overlapFuncs[geom1.getType()][geom0.getType()];
            PX_ASSERT(overlapFunc);
            return overlapFunc(geom1, pose1, geom0, pose0, NULL, threadContext);
        }
        else
        {
            GeomOverlapFunc overlapFunc = overlapFuncs[geom0.getType()][geom1.getType()];
            PX_ASSERT(overlapFunc);
            return overlapFunc(geom0, pose0, geom1, pose1, NULL, threadContext);
        }
    }
 
}  // namespace Gu
 
}
 
#endif